An allocation method of high pass filter for bilateral teleoperation system over network considering stability and performance

Shoyo Hyodo, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of the bilateral control system challengeable. This is because network delay seriously deteriorates the performance and could make the system unstable. The authors' previous research proposed a compensator to stabilize the against network delay and a control system to attain reproducibility. However, operationality is remained as a problem. In this paper, to attain almost same performance as the system without time delay, allocations of high pass filter are studied. High pass filter is implemented to remove the undesirable operational force in low frequency area. By allocating high pass filter correctly, operationality is improved while maintaining stability and reproducibility. The validity is confirmed by numerical analysis and experimental results.

Original languageEnglish
Pages (from-to)199-205
Number of pages7
JournalIEEJ Journal of Industry Applications
Volume5
Issue number3
DOIs
Publication statusPublished - 2016

Keywords

  • Bilateral control
  • Network delay
  • Operationality
  • Reproducibility
  • Stability

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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