TY - GEN
T1 - Macro-micro bilateral control using Kalman filter based state observer for noise reduction and decoupling of modal space
AU - Nagatsu, Yuki
AU - Katsura, Seiichiro
PY - 2013
Y1 - 2013
N2 - In this research, a novel structure of macro - micro bilateral control for reduction of quantization noise and interference in the modal space is proposed. Macro-micro manipulation is needed for various fields such as minimally invasive surgery and investigations. Scaled bilateral control is one of key technology for micro manipulation. However, performance of scaled macro-micro bilateral control is deteriorated because of enlarged quantization noise and interference between force and position control. In this research, Kalman Filter base State Observer is extended and constructed in the common and differential modal space in order to reduce effects of enhanced quantization noise which is enlarged by scaling factor. In addition, interference and disturbance are eliminated by using a structure based on a disturbance observer. Validity of proposal is confirmed by simulations and an experiment.
AB - In this research, a novel structure of macro - micro bilateral control for reduction of quantization noise and interference in the modal space is proposed. Macro-micro manipulation is needed for various fields such as minimally invasive surgery and investigations. Scaled bilateral control is one of key technology for micro manipulation. However, performance of scaled macro-micro bilateral control is deteriorated because of enlarged quantization noise and interference between force and position control. In this research, Kalman Filter base State Observer is extended and constructed in the common and differential modal space in order to reduce effects of enhanced quantization noise which is enlarged by scaling factor. In addition, interference and disturbance are eliminated by using a structure based on a disturbance observer. Validity of proposal is confirmed by simulations and an experiment.
KW - Bilateral control
KW - Decoupling control
KW - Disturbance observer
KW - Kalman filter
KW - Micro manipuration
KW - Modal space
KW - Scaled bilateral control
KW - State observer
UR - http://www.scopus.com/inward/record.url?scp=84893584516&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893584516&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6699808
DO - 10.1109/IECON.2013.6699808
M3 - Conference contribution
AN - SCOPUS:84893584516
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4192
EP - 4197
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -