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A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping...
For time-delayed bilateral teleoperation systems, this paper presents a novel structure to considerably improve performance in terms of transparency and perception bandwidth, which are extremely low for passive systems, as well as force-position and velocity tracking on which delay control systems suffer both necessity for provision of identical initial conditions and drift problem. Performance improvement...
This research focuses on improvement of disturbance suppression even under existence of observation noise. Disturbance observer is an effective tool to estimate and compensate disturbance. There is a problem, however, that it cannot accomplish desired disturbance suppression when a large observation noise exists. In this research, a method with which influence of disturbance can be suppressed greatly...
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