High-Performance Force Control Based on Virtual Bilateral Control Structure

Abstract

This paper proposes a new force control based on a bilateral control structure. Improvements in motion control technology, including force control, are important to realizing a human support robotic system. Conventionally, robot systems require high-precision positioning accuracy. In the near future, however, robots will need to be involved in human society directly. In this case, force control with high precision is an essential part of robot system control. For a complex system, raising the controller gain and bandwidth is not easy. In the proposed system, a virtual position control loop is constructed in a conventional force control to assist with ideal acceleration control. With the proposed system, high-accuracy force control and a control band can be achieved with superior performance compared to conventional systems.

Virtual-bilateral-type force control for stable and quick contact motion

“…This virtual system and real actuated system were connected by the PD-type controller C p . The basic structure is the virtualbilateral structure based force control [16]. A block diagram is shown in Fig.…”

Recent advances and outlook in industrial instrumentation and mechatronics control

“…The disturbance observer (DOB) is often termed as the pronoun of motion control technology. Hence, majority of papers related to motion control in IEEJ J. IA are related to DOB .…”

“…These include the extended or modified DOB, and they estimate the special components in the disturbances. Advanced DOBs consist of the following types: The most significant advanced DOB is the reaction force observer (RFOB) , ,. This includes the assumption that a robot makes contact with an environment such as a flat wall.…”

“…Haptics is expected to be widely useful for interactions between mechatronic sys‐tems and humans ,. As defined in a survey paper , ‘Haptics is a research field that examines information from physical interaction between humans and objects.…”