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• W2020043381 abstract "In this work, we present a bilateral control system with different mechanisms of master and slave sides. A linear shaft motor and a ball screw perform the roles of the master and slave, respectively. To reduce the friction effect on force estimation due to the ball screw mechanism, a periodic signal is inserted into the control signal of the slave side. The addition of periodic signal causes oscillatory force responses on both master and slave sides. Therefore, a high-order disturbance observer is designed for force sensing operation on the slave side to reduce the effect of oscillatory disturbance on force information. The control algorithm consists of a conventional disturbance observer and a high-order disturbance observer for master and slave sides, respectively. The numerical simulation results verify the effectiveness of the proposed method." @default.
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• W2020043381 date "2012-10-01" @default.
• W2020043381 modified "2023-10-08" @default.
• W2020043381 title "Force sensation improvement in bilateral control of different master-slave mechanism based on high-order disturbance observer" @default.
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• W2020043381 doi "https://doi.org/10.1109/iecon.2012.6389179" @default.
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