A method of scaling bilateral control system with time delay in terms of modal space

Hayata Sakai, Daisuke Tomizuka, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

This paper proposes a method of scaling bilateral control in the presence of time delay in terms of modal space. The bilateral control is characterized by a remote control, which return force information to the local site. Also, the bilateral control enable us to achieve dexterous tasks such as microsurgery by scaling the force/position response freely. However, bilateral control system has a problem, which is time delay, because interference between position and force control occurs and it degrades the performance and stability of the control system. In the time-delayed bilateral control, the force/position response conflict with each other, so it has been impossible to scale the force/position response separately. Hence, in this paper the control goals in bilateral control system under time delay is set to decouple force/position control. Moreover, the control goals enable us to scale force/position response in bilateral control system. The effectiveness of the proposed method is validated experimentally.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages24-29
Number of pages6
Volume2016-May
ISBN (Electronic)9781467380751
DOIs
Publication statusPublished - 2016 May 19
EventIEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan, Province of China
Duration: 2016 Mar 142016 Mar 17

Other

OtherIEEE International Conference on Industrial Technology, ICIT 2016
CountryTaiwan, Province of China
CityTaipei
Period16/3/1416/3/17

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Sakai, H., Tomizuka, D., & Ohnishi, K. (2016). A method of scaling bilateral control system with time delay in terms of modal space. In Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016 (Vol. 2016-May, pp. 24-29). [7474720] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2016.7474720