Motion Reproduction with Time-adaptation Control for Dealing with Variations of Environmental Location

Takeuchi, Issei; Katsura, Seiichiro

doi:10.1541/ieejjia.5.221

Cited by 13 publications

(6 citation statements)

References 23 publications

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“…A sensor used in the simulation is only a position sensor. In implementation, sampling time of a controller and the sensor is set at 0.1 ms and there were no approximations as shown in (4). An effect of a friction is not considered in the simulation.…”

Section: Simulationmentioning

confidence: 99%

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Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

Kurumatani¹,

Katsura²

2019

IEEJ Journal IA

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The paper proposes a parameter design of a reaction force observer (RFOB) under existence of modeling error/parameter fluctuation. Observer-based sensorless-force-control is a good approach to reduce phase lag in control systems. Hence, the performance improvement can be easily attained by such a technique. However, the RFOB does not always guarantee accuracy of estimated value and adds incorrect compliance on the system. Due to insufficient report about RFOB design, its calibration is conducted based on the designer's own experience. To calibrate the RFOB and achieve the correct force control quantitatively, the structure of the observer-based force control and physical interpretation of control loops should be revealed simply. The paper presents a condition to achieve the correct force control and design methodology of observers, thereby, providing a robust performance against parameter variation.

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Section: Simulationmentioning

confidence: 99%

“…Furthermore, performance improve of machining is also demanded. Due to demand for high-variety low-volume manufacturing along diversification of human color, flexibility for work plays a significant role (4) .…”

Section: Introductionmentioning

confidence: 99%

Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

Kurumatani¹,

Katsura²

2019

IEEJ Journal IA

Self Cite

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“…The frequency was selected from 20, 50 and 100 Hz the value at which the muscle reacted the most. In this section, bilateral control, a remote-control technique [17] [18], is described and is illustrated in Fig. 4.…”

Section: B Stimulation Waveformmentioning

confidence: 99%

Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation

Hasegawa

Kitamura

Sakaino

et al. 2018

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

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Bilateral control, a remote-control technique, is used to work at a distance. However, many existing bilateral control systems have two common problems: 1) it is difficult to create a system like a human hand, that has multiple degrees of freedom and 2) if the mechanism becomes too complicated, operators feel restrained and experience discomfort. Because, for these reasons, the bilateral control of fingers has not been accomplished to date, we aimed to overcome this by applying functional electrical stimulation (FES). In our experiments, through an adhesive electrode pad, electrical stimulation was delivered to the muscles that flex and expand the metacarpophalangeal joints of the thumb and middle finger. Position-symmetrical bilateral control was implemented so that the deviation of the master's and slave's positions relative to each other was zero degrees. A sliding mode controller was used as a position controller. We found it possible to control multiple degrees of freedom; however, we found areas where the number of tracking errors was large. We speculated that the middle finger did not bend, because the arm rotates as the thumb was abduction, therefore the position of the motor point of the middle finger deviates from the position of the pad.

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“…Here, the disturbance observer (DOB) is used as a torque sensor. DOB identifies the total mechanical load and the effect of system parameter change that is considered as the total disturbance of the motor [34], [35]. In order to estimate the motor inertia, the authors propose a RTOB based novel Reverse Motion Acceleration test.…”

Section: Introductionmentioning

confidence: 99%

Motion control applications: observer based DC motor parameters estimation for novices

Pillai

Suthakorn

2019

IJPEDS

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<span>Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (<100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate. This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.</span>

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Motion Reproduction with Time-adaptation Control for Dealing with Variations of Environmental Location

Cited by 13 publications

References 23 publications

Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation

Motion control applications: observer based DC motor parameters estimation for novices

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