Dexterous manipulation in multi-degree-of-freedom based on modal-space disturbance compensation

Nagase, Kazuki; Katsura, Seiichiro

doi:10.1109/iecon.2009.5414832

Cited by 2 publications

(1 citation statement)

References 14 publications

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“…Methods that use a DOB in the mode space have previously been proposed [11][12][13][14]; however, must have described only design methods and applications to specific cases. There have been no evaluations of the performance of DOBs in mode space.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Bilateral Control Based on Modal Space Observer in Master‐Slave Systems with Different Masses

Yajima

Katsura

2015

Electrical Engineering Japan

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This paper proposes a method of decoupled bilateral control based on a modal space observer. In a conventional bilateral control system, the structures of master-slave systems are not considered. This paper shows that a force controller and a position controller in a bilateral control system interfere with each other when the structures of the master-slave systems are different. In order to solve this problem, a bilateral control system based on a hybrid matrix has been proposed. However, the computational process for calculating the hybrid matrix becomes complicated as the numbers of degrees of freedom in the master-slave systems increase. In the proposed method, a nominal equivalent mass matrix with respect to the modal space is used, and the interfering terms are estimated and compensated using a modal space observer. Therefore, a simple control structure is realized using the proposed method. The performance of the proposed method is compared to that of the conventional methods through simulations and experiments, and the validity of the proposed method is confirmed. C⃝ 2015 Wiley Periodicals, Inc. Electr Eng Jpn, 193(1): 10-20, 2015; Published online in Wiley Online Library (wileyonlinelibrary.com).

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Section: Introductionmentioning

confidence: 99%

Decoupled Bilateral Control Based on Modal Space Observer in Master‐Slave Systems with Different Masses

Yajima

Katsura

2015

Electrical Engineering Japan

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Decoupled Bilateral Control Based on Modal Space Observer in Master-Slave Systems with Different Masses

Yajima

Katsura

2013

IEEJ Trans. IA

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SUMMARY This paper proposes a method of decoupled bilateral control based on a modal space observer. In a conventional bilateral control system, the structures of master‐slave systems are not considered. This paper shows that a force controller and a position controller in a bilateral control system interfere with each other when the structures of the master‐slave systems are different. In order to solve this problem, a bilateral control system based on a hybrid matrix has been proposed. However, the computational process for calculating the hybrid matrix becomes complicated as the numbers of degrees of freedom in the master‐slave systems increase. In the proposed method, a nominal equivalent mass matrix with respect to the modal space is used, and the interfering terms are estimated and compensated using a modal space observer. Therefore, a simple control structure is realized using the proposed method. The performance of the proposed method is compared to that of the conventional methods through simulations and experiments, and the validity of the proposed method is confirmed.

show abstract

Dexterous manipulation in multi-degree-of-freedom based on modal-space disturbance compensation

Cited by 2 publications

References 14 publications

Decoupled Bilateral Control Based on Modal Space Observer in Master‐Slave Systems with Different Masses

Decoupled Bilateral Control Based on Modal Space Observer in Master‐Slave Systems with Different Masses

Decoupled Bilateral Control Based on Modal Space Observer in Master-Slave Systems with Different Masses

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