TY - GEN
T1 - Performance enhancement of bilateral control with different control performances
AU - Morimitsu, Hidetaka
AU - Katsura, Seiichiro
PY - 2013
Y1 - 2013
N2 - Bilateral control that can render a mechanical impedance of remote object has recently been researched. However, most of the researches assume that master and slave systems of bilateral control have enough bandwidth for transmitting generated torque to an end effector. In practical situation, there might be cases in which mechanically fine systems cannot be utilized. This research discusses a bilateral control in which master side of systems has low control performance. In order to compensate for the interference of position responses with force control caused by the difference of the performances, disturbance observer is constructed in common modal space of bilateral control system. The device characteristics are considered in actual compensation so that the compensation itself does not become the new interference term. The performance enhancement of haptic system relating to contact motion will be shown by simulations and experiments.
AB - Bilateral control that can render a mechanical impedance of remote object has recently been researched. However, most of the researches assume that master and slave systems of bilateral control have enough bandwidth for transmitting generated torque to an end effector. In practical situation, there might be cases in which mechanically fine systems cannot be utilized. This research discusses a bilateral control in which master side of systems has low control performance. In order to compensate for the interference of position responses with force control caused by the difference of the performances, disturbance observer is constructed in common modal space of bilateral control system. The device characteristics are considered in actual compensation so that the compensation itself does not become the new interference term. The performance enhancement of haptic system relating to contact motion will be shown by simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=84893581469&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893581469&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6700144
DO - 10.1109/IECON.2013.6700144
M3 - Conference contribution
AN - SCOPUS:84893581469
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 6138
EP - 6143
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 -