Recently, the study of real-world haptics is taken place actively. Haptics is scholarship about tactile sensation. Among them, the realization of high accuracy micro manipulation is demanded from many industrial fields such as medical treatment and manufacturing. In micro region, high accuracy positioning system and multi-degree of freedom system are needed for precise manipulation. However, operator must concentrate on operation of environment after approaching to position of environment when micromanipulation by multi-degree of freedom haptic system is considered. Conventional systems are not considered about the control system of the base of the manipulator after approaching to position of environment. Thus, the bilateral control using virtual compliance control is proposed in this paper. This is because the system is limited depending on the movement of the operator by implementing virtual compliance control. The viability of the proposed method and the reduction of the oscillation are shown by some experimental results.
Recently, tele-operation of the robot is needed with getting force information. To realize tele-operation with force feedback, high accuracy force control is essential. However, torsional vibration of multi-mass resonant system is a serious problem to operate robots. Vibration suppression in motion control system is important problem in industry applications. In this paper, the system that is 3-mass resonant system is considered. This paper proposes a bilateral control of 3-mass resonant system. The resonance control is implemented to the system to reduce vibration. Also, the inverse system is implemented to reject load disturbance. A load disturbance is estimated by load disturbance observer. The estimation method does not need parameter identification. The determination method of pole placement is discussed. The viability of the proposed method is confirmed by some experiments.
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