Stability analysis of bilateral control by considering environmental impedance and modeling error

Author

Kambara, Yoshiyuki ; Uozumi, Seiji ; Ohnishi, Kouhei

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

fYear

2015

fDate

17-19 March 2015

Firstpage

481

Lastpage

486

Abstract

This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental impedance and modeling error. ABC is one of the control method to enable highly precise transmission of haptic sensation between master and slave robots. Conventionally, ABC is analyzed by using slave side environmental impedance and ideal acceleration control and load force estimation. However, the stability of ABC is affected by both master and slave side impedance, cutoff frequency of DOB and RFOB, and modeling error. Therefore, this paper proposes the approach for analyzing stability of ABC by considering these factors which affect the stability of the system. The validity of proposed approach is verified by simulation and experimental results.

Keywords

acceleration control; haptic interfaces; observers; robots; stability; ABC; DOB; RFOB; acceleration control; acceleration-based bilateral control; cutoff frequency; disturbance observer; haptic sensation; load force estimation; master and slave robot; master and slave side impedance; modeling error; reaction force observer; slave side environmental impedance; stability analysis; system stability; Acceleration; Force; Impedance; Manganese; Observers; Robots; Stability analysis; Bilateral control; acceleration control; disturbance observer; haptics; reaction force observer; stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology (ICIT), 2015 IEEE International Conference on

Conference_Location

Seville

Type

conf

DOI

10.1109/ICIT.2015.7125145

Filename

7125145