A reduction method of stochastic disturbance based on resonant filter in macro-micro bilateral control system

Abstract

This paper proposes a reduction method of stochastic disturbance that is focused on haptic information in the micro space. Presently in the industry, haptic information is attracting attention as the tertiary media following audio and visual information. Haptic information has characteristics of bidirectionality and scaling that extended human ability by using master and slave robots. Especially, high-precision performance including haptic information is required by the industrial robots such as a field of medical care. In the conventional method, however, desired motion cannot be achieved precisely under the influence of the stochastic disturbance like sensor noise in the minute region. High precision of the motion control is closely related to reduce the influence of the sensor noise and perform acceleration control. Therefore, this paper focuses on resonant filter that is presented the study of quantum physics that treats a probabilistic phenomenon. The control system that considered the stochastic disturbance is proposed by constructing the disturbance observer based on the complex equivalent circuit of Schrodinger equation. The viability of the proposed model and the reduction of the oscillation are confirmed by performing analysis and experiments in scaling bilateral control.