Admittance Separation Method for Admittance-Based Bilateral Control

KOTANI, Izumi; NOZAKI, Takahiro

doi:10.1109/iecon51785.2023.10311697

IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society 2023

DOI: 10.1109/iecon51785.2023.10311697

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Admittance Separation Method for Admittance-Based Bilateral Control

Izumi KOTANI,

Takahiro NOZAKI

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2024

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Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit position and force information. Several types of conventional two-channel controllers are difficult to contact and operate. A two-channel controller with equivalent performance to the four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zeroand first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also shows that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through bilateral-control experiments in the joint space and workspace.

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Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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Admittance Separation Method for Admittance-Based Bilateral Control

Cited by 1 publication

References 10 publications

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

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