A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration

Yoshiki Ohno, Ryohei Kozuki, Keita Shimamoto, Kouhei Ohnishi

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

Abstract

This paper proposes a novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. Bilateral control is a remote control technology, which enables transmission of force sensation. Time-delay is the one of the problems of the bilateral control, because it degrades the transparency and stability of the control system. Communication disturbance observer (CDOB) has been proposed to compensate time-delay without dead time model. However, CDOB cannot compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Therefore, this paper proposes a novel observer, work space communication disturbance observer (WCDOB), for time-delay compensation. The proposed method can compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Experiments were conducted by using actual network. The experimental results show the validity of the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages3275-3280
Number of pages6
DOIs
Publication statusPublished - 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

Fingerprint

Time delay
Control systems
Communication
Remote control
Transparency
Compensation and Redress
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ohno, Y., Kozuki, R., Shimamoto, K., & Ohnishi, K. (2013). A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. In IECON Proceedings (Industrial Electronics Conference) (pp. 3275-3280). [6699653] https://doi.org/10.1109/IECON.2013.6699653

A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. / Ohno, Yoshiki; Kozuki, Ryohei; Shimamoto, Keita; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2013. p. 3275-3280 6699653.

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

Ohno, Y, Kozuki, R, Shimamoto, K & Ohnishi, K 2013, A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. in IECON Proceedings (Industrial Electronics Conference)., 6699653, pp. 3275-3280, 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013, Vienna, Austria, 13/11/10. https://doi.org/10.1109/IECON.2013.6699653
Ohno Y, Kozuki R, Shimamoto K, Ohnishi K. A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. In IECON Proceedings (Industrial Electronics Conference). 2013. p. 3275-3280. 6699653 https://doi.org/10.1109/IECON.2013.6699653
Ohno, Yoshiki ; Kozuki, Ryohei ; Shimamoto, Keita ; Ohnishi, Kouhei. / A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. IECON Proceedings (Industrial Electronics Conference). 2013. pp. 3275-3280
@inproceedings{8b76b61693f6459a820c14734309366a,
title = "A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration",
abstract = "This paper proposes a novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. Bilateral control is a remote control technology, which enables transmission of force sensation. Time-delay is the one of the problems of the bilateral control, because it degrades the transparency and stability of the control system. Communication disturbance observer (CDOB) has been proposed to compensate time-delay without dead time model. However, CDOB cannot compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Therefore, this paper proposes a novel observer, work space communication disturbance observer (WCDOB), for time-delay compensation. The proposed method can compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Experiments were conducted by using actual network. The experimental results show the validity of the proposed method.",
author = "Yoshiki Ohno and Ryohei Kozuki and Keita Shimamoto and Kouhei Ohnishi",
year = "2013",
doi = "10.1109/IECON.2013.6699653",
language = "English",
isbn = "9781479902248",
pages = "3275--3280",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration

AU - Ohno, Yoshiki

AU - Kozuki, Ryohei

AU - Shimamoto, Keita

AU - Ohnishi, Kouhei

PY - 2013

Y1 - 2013

N2 - This paper proposes a novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. Bilateral control is a remote control technology, which enables transmission of force sensation. Time-delay is the one of the problems of the bilateral control, because it degrades the transparency and stability of the control system. Communication disturbance observer (CDOB) has been proposed to compensate time-delay without dead time model. However, CDOB cannot compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Therefore, this paper proposes a novel observer, work space communication disturbance observer (WCDOB), for time-delay compensation. The proposed method can compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Experiments were conducted by using actual network. The experimental results show the validity of the proposed method.

AB - This paper proposes a novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. Bilateral control is a remote control technology, which enables transmission of force sensation. Time-delay is the one of the problems of the bilateral control, because it degrades the transparency and stability of the control system. Communication disturbance observer (CDOB) has been proposed to compensate time-delay without dead time model. However, CDOB cannot compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Therefore, this paper proposes a novel observer, work space communication disturbance observer (WCDOB), for time-delay compensation. The proposed method can compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Experiments were conducted by using actual network. The experimental results show the validity of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=84893633228&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84893633228&partnerID=8YFLogxK

U2 - 10.1109/IECON.2013.6699653

DO - 10.1109/IECON.2013.6699653

M3 - Conference contribution

AN - SCOPUS:84893633228

SN - 9781479902248

SP - 3275

EP - 3280

BT - IECON Proceedings (Industrial Electronics Conference)

ER -