Improvement of operationality for bilateral control based on nominal mass design in disturbance observer

Tomoyuki Shimono; Seiichiro Katsura; Kouhei Ohnishi

doi:10.1109/IECON.2005.1569217

Improvement of operationality for bilateral control based on nominal mass design in disturbance observer

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.

Original language	English
Title of host publication	IECON 2005
Subtitle of host publication	31st Annual Conference of IEEE Industrial Electronics Society
Pages	2035-2040
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2005.1569217
Publication status	Published - 2005
Event	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States Duration: 2005 Nov 6 → 2005 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2005

Other

Other	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Country/Territory	United States
City	Raleigh, NC
Period	05/11/6 → 05/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2005.1569217

Cite this

Shimono, T., Katsura, S., & Ohnishi, K. (2005). Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. In IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society (pp. 2035-2040). Article 1569217 (IECON Proceedings (Industrial Electronics Conference); Vol. 2005). https://doi.org/10.1109/IECON.2005.1569217

Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. / Shimono, Tomoyuki; Katsura, Seiichiro; Ohnishi, Kouhei.
IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society. 2005. p. 2035-2040 1569217 (IECON Proceedings (Industrial Electronics Conference); Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shimono, T, Katsura, S & Ohnishi, K 2005, Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. in IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society., 1569217, IECON Proceedings (Industrial Electronics Conference), vol. 2005, pp. 2035-2040, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569217

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AB - In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.

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Improvement of operationality for bilateral control based on nominal mass design in disturbance observer

Abstract

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