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 - 2013/12/1
Y1 - 2013/12/1
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
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U2 - 10.1109/IECON.2013.6699653
DO - 10.1109/IECON.2013.6699653
M3 - Conference contribution
AN - SCOPUS:84893633228
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 3275
EP - 3280
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -