A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space

Atsushi Suzuki, Kouhei Ohnishi

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

5 Citations (Scopus)

Abstract

A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping method which suppresses the higher frequency vibration than the frequency of human motion. This method improves the stability of force control in the common modal space, maintaining good operationality. The validity of the proposed control system is confirmed by some experimental results.

Original languageEnglish
Title of host publicationISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages1779-1783
Number of pages5
DOIs
Publication statusPublished - 2010 Dec 27
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: 2010 Jul 42010 Jul 7

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
CountryItaly
CityBari
Period10/7/410/7/7

Keywords

  • Acceleration control
  • Common modal space
  • Disturbance observer
  • Time delay
  • Velocity damping

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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    Suzuki, A., & Ohnishi, K. (2010). A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space. In ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics (pp. 1779-1783). [5637596] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2010.5637596