IEEE - Institute of Electrical and Electronics Engineers, Inc. - Stability analysis of bilateral control by considering environmental impedance and modeling error

2015 IEEE International Conference on Industrial Technology (ICIT)

Author(s): Yoshiyuki Kambara ; Seiji Uozumi ; Kouhei Ohnishi
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 March 2015
Conference Location: Seville, Spain
Conference Date: 17 March 2015
Page(s): 481 - 486
ISBN (Electronic): 978-1-4799-7800-7
DOI: 10.1109/ICIT.2015.7125145
Regular:

This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental... View More

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