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This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this...
This paper investigates a design method for an equivalent mass matrix in motion control based on workspace observer. The equivalent mass matrix implemented in the control system is often designed as a diagonal matrix. On the other hand, a real equivalent mass matrix includes non-diagonal elements. Conventionally, assuming the cut-off frequency as infinity, these elements is ignored. However, actually,...
This paper proposes a task realization method by using a force-based variable compliance controller for flexible motion control systems. In recent years, the robots working in human life space are desirable. Considering the robots working in human life space, they should achieve the safety motion. From this viewpoint, one of the key technologies is flexible motion control system. Of course, task realization...
In recent years, haptic communication with teleoperation systems has been actively researched. One of the effective methods for haptic communication is bilateral motion control based on acceleration control. If the acceleration-based bilateral control is applied to a parallel multi-degrees-of-freedom (MDOF) system, complicated haptic human motion can be realized in the remote site. However it is difficult...
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