Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay

Atsushi Suzuki, Takahiro Mizoguchi, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

This paper analyzes the performance of Reproducibility and Operationality in bilateral teleoperation under time delay. Acceleration-based bilateral control(ABC) is hybrid of position control and force control in orthogonally-crossed two modal space. This paper analyzes the effect of each modal space on reproducibility and operationality. Based on analysis, this paper proposes a novel 4ch ABC design and the most appropriate controller gain value of position and force controller for balancing Reproducibility and Operationality in consideration of time delay effect. The validity of proposed system is demonstrated in some experimental results.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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    Suzuki, A., Mizoguchi, T., & Ohnishi, K. (2013). Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay. In 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013 [6563681] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2013.6563681