A design of four-channel bilateral control system under time delay based on hybrid parameters

Hidetaka Morimitsu, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages874-879
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

Fingerprint

Time delay
Control systems
Controllers
Communication
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Morimitsu, H., & Katsura, S. (2013). A design of four-channel bilateral control system under time delay based on hybrid parameters. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 874-879). [6519156] https://doi.org/10.1109/ICMECH.2013.6519156

A design of four-channel bilateral control system under time delay based on hybrid parameters. / Morimitsu, Hidetaka; Katsura, Seiichiro.

2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 874-879 6519156.

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

Morimitsu, H & Katsura, S 2013, A design of four-channel bilateral control system under time delay based on hybrid parameters. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6519156, pp. 874-879, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6519156
Morimitsu H, Katsura S. A design of four-channel bilateral control system under time delay based on hybrid parameters. In 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 874-879. 6519156 https://doi.org/10.1109/ICMECH.2013.6519156
Morimitsu, Hidetaka ; Katsura, Seiichiro. / A design of four-channel bilateral control system under time delay based on hybrid parameters. 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. pp. 874-879
@inproceedings{9f0852ffd0f64bef8bec25eb9993e0c9,
title = "A design of four-channel bilateral control system under time delay based on hybrid parameters",
abstract = "This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.",
author = "Hidetaka Morimitsu and Seiichiro Katsura",
year = "2013",
doi = "10.1109/ICMECH.2013.6519156",
language = "English",
isbn = "9781467313889",
pages = "874--879",
booktitle = "2013 IEEE International Conference on Mechatronics, ICM 2013",

}

TY - GEN

T1 - A design of four-channel bilateral control system under time delay based on hybrid parameters

AU - Morimitsu, Hidetaka

AU - Katsura, Seiichiro

PY - 2013

Y1 - 2013

N2 - This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.

AB - This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.

UR - http://www.scopus.com/inward/record.url?scp=84879361205&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84879361205&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2013.6519156

DO - 10.1109/ICMECH.2013.6519156

M3 - Conference contribution

AN - SCOPUS:84879361205

SN - 9781467313889

SP - 874

EP - 879

BT - 2013 IEEE International Conference on Mechatronics, ICM 2013

ER -