TY - GEN
T1 - A bilateral controller design method using delay compensators
AU - Iiyama, Noriko
AU - Natori, Kenji
AU - Kubo, Ryogo
AU - Ohnishi, Kouhei
AU - Furukawa, Hirotaka
AU - Miura, Kanako
AU - Takahata, Minoru
PY - 2006
Y1 - 2006
N2 - Since communication time delay is a serious problem for bilateral control systems, a great number of researches about delay compensation in bilateral teleoperation with time delay have been studied so far. Some of delay compensators are designed to eliminate phase lag of feedback control and applicable to 4ch-controllers. However, the desired results are not always obtained, even though those compensators are applied to the conventional bilateral 4ch-controller with time delay. This is because these compensators do not take force controllers into account. This paper presents a bilateral 4ch-controller that delay compensators are applied to by considering the force controllers. The proposed controller is designed to control both position and force of a master robot and a slave robot by using only 2 degrees of freedom (DOF). One DOF is utilized for position control, and the other is utilized for force control. Therefore, the position controller and the force controller are shared by the master and slave robots. If delay compensators are applied to the proposed bilateral controller, position and force responses of the master robot correspond with those values of the slave robot, respectively. The validity of the proposed method is verified by simulation and experimental results.
AB - Since communication time delay is a serious problem for bilateral control systems, a great number of researches about delay compensation in bilateral teleoperation with time delay have been studied so far. Some of delay compensators are designed to eliminate phase lag of feedback control and applicable to 4ch-controllers. However, the desired results are not always obtained, even though those compensators are applied to the conventional bilateral 4ch-controller with time delay. This is because these compensators do not take force controllers into account. This paper presents a bilateral 4ch-controller that delay compensators are applied to by considering the force controllers. The proposed controller is designed to control both position and force of a master robot and a slave robot by using only 2 degrees of freedom (DOF). One DOF is utilized for position control, and the other is utilized for force control. Therefore, the position controller and the force controller are shared by the master and slave robots. If delay compensators are applied to the proposed bilateral controller, position and force responses of the master robot correspond with those values of the slave robot, respectively. The validity of the proposed method is verified by simulation and experimental results.
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U2 - 10.1109/ICIT.2006.372367
DO - 10.1109/ICIT.2006.372367
M3 - Conference contribution
AN - SCOPUS:51349088305
SN - 1424407265
SN - 9781424407262
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 836
EP - 841
BT - 2006 IEEE International Conference on Industrial Technology, ICIT
T2 - 2006 IEEE International Conference on Industrial Technology, ICIT
Y2 - 15 December 2006 through 17 December 2006
ER -