Vibration suppression of bilateral control system

Abstract

This paper proposes a novel concept of vibration suppression of bilateral control system by first order low pass filters. This will be a huge step of improvement of the transparency of conventional bilateral control system. In a master slave manipulating system, master gives command to the slave and according to the slave responses master commands are varying. So that slave response should always come up without unwanted vibrations. Therefore vibration suppression is more important in motion control. Conventional bilateral control system is suppressed the vibration up to some certain level. The suppressing frequency bandwidth have been pointed out by bode diagrams. Further suppression has been done by placing low pass filter on different places of the conventional block. Then the system block was modified by adding a filter. The results of the disturbance observer filter effects are illustrated by the simulation graphs. The proposed method of additional filter effect is validated by simulation and practical results.