IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society 2012
DOI: 10.1109/iecon.2012.6389179
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Force sensation improvement in bilateral control of different master-slave mechanism based on high-order disturbance observer

Abstract: In this work, we present a bilateral control system with different mechanisms of master and slave sides. A linear shaft motor and a ball screw perform the roles of the master and slave, respectively. To reduce the friction effect on force estimation due to the ball screw mechanism, a periodic signal is inserted into the control signal of the slave side. The addition of periodic signal causes oscillatory force responses on both master and slave sides. Therefore, a high-order disturbance observer is designed for… Show more

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Cited by 3 publications
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