Band eliminate filter design for bilateral control system under time delay

Ryohei Kozuki, Yoshiki Ohno, Daiki Suzuki, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages302-307
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • Bilateral control
  • Haptics
  • Master-slave robot system
  • Network

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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