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 publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages3275-3280
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration'. Together they form a unique fingerprint.

  • 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 Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 3275-3280). [6699653] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699653