An analysis of parameter variations of disturbance observer for haptic motion control

Hideyuki Kobayashi, Seiichiro Katsura, Kouhei Ohnishi

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

Recent machines are hoped to have a haptic ability to work in open environment. Haptic motion control is based on position control and force control. To realize the position control and especially force control, the attainment of robustness is essential. This paper selects a disturbance observer to attain the robust acceleration control. A disturbance observer identifies the total mechanical load torque and parameter variations. The aim of this paper is to analyze a disturbance observer with the focus on parameter variations. Parameter variations have an influence on the cut-off frequency of bandwidth where robustness is assured and the stability of control system. This paper shows that the cut-off frequency depends on parameter variations. This paper focuses on the self-inertia variation and analyzes the stability of the position control system and the force control system. The design method of observer gains is also proposed.

本文言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ1907-1912
ページ数6
DOI
出版ステータスPublished - 2005
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11月 62005 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
国/地域United States
CityRaleigh, NC
Period05/11/605/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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