Scaled bilateral control using Kalman Filter based state estimation for reduction of noise effect

In this research, a novel structure of scaled bilateral control for reduction of noise effects is proposed. DOB (Disturbance Observer) and RFOB (Reaction Force Observer) are important factors of bilateral control systems to construct a robust acceleration control system. However, accuracy of force estimation is deteriorated if resolutions of a position encoder are low. Quantization noise is enhanced in the scaled bilateral control system and performance of the DOB and RFOB are deteriorated as the case in which encoder resolutions are low. To reduce effects of enhanced quantization noise, force and position information is estimated by Kalman Filter based State Observer (KFSO). By using the proposed structure, position and force responses are appropriately satisfied and system become stable, even if the scaling factors are larger than the one used in a conventional structure with DOB and RFOB. The validity of proposal is confirmed by experiments.