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

Other

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

Fingerprint

Filter Design
Time Delay
Time delay
Eliminate
Control System
Control systems
Filter
Experiment
Experiments

Keywords

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

ASJC Scopus subject areas

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

Cite this

Kozuki, R., Ohno, Y., Suzuki, D., & Ohnishi, K. (2014). Band eliminate filter design for bilateral control system under time delay. In International Workshop on Advanced Motion Control, AMC (pp. 302-307). [6823299] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823299

Band eliminate filter design for bilateral control system under time delay. / Kozuki, Ryohei; Ohno, Yoshiki; Suzuki, Daiki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 302-307 6823299.

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

Kozuki, R, Ohno, Y, Suzuki, D & Ohnishi, K 2014, Band eliminate filter design for bilateral control system under time delay. in International Workshop on Advanced Motion Control, AMC., 6823299, Institute of Electrical and Electronics Engineers Inc., pp. 302-307, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823299
Kozuki R, Ohno Y, Suzuki D, Ohnishi K. Band eliminate filter design for bilateral control system under time delay. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 302-307. 6823299 https://doi.org/10.1109/AMC.2014.6823299
Kozuki, Ryohei ; Ohno, Yoshiki ; Suzuki, Daiki ; Ohnishi, Kouhei. / Band eliminate filter design for bilateral control system under time delay. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 302-307
@inproceedings{97a35756c9b04ec38d0cd9599d4c8aca,
title = "Band eliminate filter design for bilateral control system under time delay",
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.",
keywords = "Bilateral control, Haptics, Master-slave robot system, Network",
author = "Ryohei Kozuki and Yoshiki Ohno and Daiki Suzuki and Kouhei Ohnishi",
year = "2014",
doi = "10.1109/AMC.2014.6823299",
language = "English",
isbn = "9781479923243",
pages = "302--307",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Band eliminate filter design for bilateral control system under time delay

AU - Kozuki, Ryohei

AU - Ohno, Yoshiki

AU - Suzuki, Daiki

AU - Ohnishi, Kouhei

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Bilateral control

KW - Haptics

KW - Master-slave robot system

KW - Network

UR - http://www.scopus.com/inward/record.url?scp=84903171117&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903171117&partnerID=8YFLogxK

U2 - 10.1109/AMC.2014.6823299

DO - 10.1109/AMC.2014.6823299

M3 - Conference contribution

AN - SCOPUS:84903171117

SN - 9781479923243

SP - 302

EP - 307

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -