Large scale micro-macro bilateral control using piezoelectric cantilever with plant nominalization

Author

Matsumi, Y. ; Suzuki, Daisuke ; Ohnishi, Kengo

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

fYear

2013

fDate

10-13 Nov. 2013

Firstpage

3946

Lastpage

3951

Abstract

As far as authors´ understanding, scaling factors presented in this paper are the highest values in the researches about force sensorless bilateral control. The cantilever is nominalized by disturbance observer in order to control master and slave with same method, which is intended to simplify the control system. An operator can feel magnified reaction force applied to the cantilever without force sensors by utilizing reaction force observer. Operationality and reproducibility are defined mathematically. Characteristics of these values and stability are analyzed and experimentally verified.

Keywords

cantilevers; force control; observers; piezoelectric actuators; sensorless machine control; control system; disturbance observer; force sensorless bilateral control; large scale micromacro bilateral control; magnified reaction force; master and slave control; operationality; piezoelectric cantilever; plant nominalization; reaction force observer; reproducibility; scaling factors; Cutoff frequency; bilateral control; haptics; microelectromechanical systems; micromanipulators; observers; piezoelectric actuators; sensorless control; user interface;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE

Conference_Location

Vienna

ISSN

1553-572X

Type

conf

DOI

10.1109/IECON.2013.6699766

Filename

6699766