Title :
Transparency improvement in a bilateral motion-scaling control using Kalman-filter-based disturbance observer
Author :
Mitsantisuk, Chowarit ; Ohishi, Kiyoshi
Author_Institution :
Dept. of Electr. Eng., Kasetsart Univ., Bangkok, Thailand
Abstract :
This paper proposes a new wideband bilateral motion-scaling control to apply in the small size robot system. The scaling Hadamard matrix is applied to reduce or magnify the force and position response of bilateral motion-scaling control. The technique to estimate the action/reaction forces of master-slave robot is designed using Kalman-filter based disturbance observer (KFDOB). Optical encoder and acceleration signals were fused to estimate contact forces occurring during an experiment. With the bilateral motion-scaling control and KFDOB, we can control the small scale master-slave robot with high precision. Comparative experiments show the KFDOB and its multi-sensor fusion to provide performance superior to that of previously disturbance observer. As seen in the experimental results, it is clear that high transparency and good perception of the environmental stiffness with the response of the master-slave robot can be achieve successfully. An additional result of FFT analysis which guarantees noise compensation is also presented.
Keywords :
Hadamard matrices; Kalman filters; acceleration; fast Fourier transforms; manipulators; motion control; observers; sensor fusion; transparency; FFT analysis; KFDOB; Kalman-filter based disturbance observer; Kalman-filter-based disturbance observer; acceleration signal; action/reaction forces; contact force; environmental stiffness; force response; master-slave robot; multisensor fusion; noise compensation; optical encoder; position response; robot system; scaling Hadamard matrix; transparency improvement; wideband bilateral motion-scaling control; Acceleration; Force; Noise; Observers; Robot sensing systems;
Conference_Titel :
Industrial Electronics Society, IECON 2014 - 40th Annual Conference of the IEEE
DOI :
10.1109/IECON.2014.7048918