High-Performance Bilateral Control Using A Current Limit Compensator for Effect in Current Saturation

カテゴリ: 研究会(論文単位)

論文No: MEC16008

グループ名: 【D】産業応用部門 メカトロニクス制御研究会

発行日: 2016/09/03

タイトル(英語): High-Performance Bilateral Control Using A Current Limit Compensator for Effect in Current Saturation

著者名: Boonwong Pattawan(長岡技術科学大学),横倉 勇希(長岡技術科学大学),大石 潔(長岡技術科学大学)

著者名(英語): Pattawan Boonwong(Nagaoka University of Technology),Yuki Yokokura(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology)

キーワード: Bilateral Control|Real-World Haptics|Current Limit Compensator (CLC)|Motion Control|Disturbance Observer (DOB)

要約(日本語): This paper proposes a current limit compensator (CLC) which have been designed to apply in reproduction system in bilateral control for canceling the problematical effect originate from current limiter by using the important components which is the disturbance observer (DOB) for improving accuracy of the force estimation.

要約(英語): This paper proposes a current limit compensator (CLC) which have been designed to apply in reproduction system in bilateral control for canceling the problematical effect originate from current limiter by using the important components which is the disturbance observer (DOB) for improving accuracy of the force estimation.

原稿種別: 英語

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