A bilateral controller design method using delay compensators

Noriko Iiyama, Kenji Natori, Ryogo Kubo, Kouhei Ohnishi, Hirotaka Furukawa, Kanako Miura, Minoru Takahata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages836-841
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A bilateral controller design method using delay compensators'. Together they form a unique fingerprint.

  • Cite this

    Iiyama, N., Natori, K., Kubo, R., Ohnishi, K., Furukawa, H., Miura, K., & Takahata, M. (2006). A bilateral controller design method using delay compensators. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 836-841). [4237689] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372367