Admittance control-based bilateral control system considering position error

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

Abstract

This paper proposes a bilateral control system implementing an admittance control system. Bilateral control system realizes teleoperation of a remote robot with a sense of touch. We focus on an admittance-based bilateral control system, which needs only two communication channels and has almost the same control performance as an acceleration-based bilateral control system, which is one of the highest transparent teleoperation systems. However, the conventional admittance-based system assumes an ideal communication situation where there is no communication time delay and no packet loss and has possible to increase position error as time goes on in practical use. The proposed admittance-based system achieves the same control performance as the conventional structure without increasing position error even if there is a communication delay. The validity of the proposed system is confirmed through simulations and experiments.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Mechatronics, ICM 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728144429
DOIs
Publication statusPublished - 2021 Mar 7
Event2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan
Duration: 2021 Mar 72021 Mar 9

Publication series

Name2021 IEEE International Conference on Mechatronics, ICM 2021

Conference

Conference2021 IEEE International Conference on Mechatronics, ICM 2021
CountryJapan
CityKashiwa
Period21/3/721/3/9

Keywords

  • Acceleration control
  • Admittance control
  • Bilateral control
  • Force control
  • Hybrid control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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