Disturbance estimation by reduced order observer-based stabilizing controller and its application to teleoperation

Author

Suzuki, Ryo ; Kudou, T. ; Ikeda, Makoto ; Kobayashi, Nao

Author_Institution

Kanazawa Inst. of Technol., Ishikawa

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

382

Lastpage

387

Abstract

This paper is proposed a disturbance estimation property of internal model control by using the reduced order observer-based stabilizing controller. A control structure for a master-slave teleoperation system by a two-finger robot hand is also discussed. By using the reduced order observer-based stabilizing controller, the proposed method is able to estimate reflection force on the slave side without force sensor. Effectiveness of the proposed method is confirmed by experiments on teleoperation by the two-finger robot hands

Keywords

dexterous manipulators; observers; reduced order systems; stability; telerobotics; disturbance estimation property; force sensor; internal model control; master-slave teleoperation system; reduced order observer-based stabilizing controller; reflection force; two-finger robot hand; Control systems; Equations; Estimation error; Force control; Force sensors; Master-slave; Mechanical systems; Reflection; Robot sensing systems; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507155

Filename

1507155