TY - GEN
T1 - A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space
AU - Suzuki, Atsushi
AU - Ohnishi, Kouhei
PY - 2010/12/27
Y1 - 2010/12/27
N2 - 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.
AB - 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.
KW - Acceleration control
KW - Common modal space
KW - Disturbance observer
KW - Time delay
KW - Velocity damping
UR - http://www.scopus.com/inward/record.url?scp=78650398567&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650398567&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2010.5637596
DO - 10.1109/ISIE.2010.5637596
M3 - Conference contribution
AN - SCOPUS:78650398567
SN - 9781424463916
T3 - IEEE International Symposium on Industrial Electronics
SP - 1779
EP - 1783
BT - ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
T2 - 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Y2 - 4 July 2010 through 7 July 2010
ER -