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 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • 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] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519156