Bilateral control system with CDOB and band eliminate filter under time delay

Ryohei Kozuki; Kouhei Ohnishi

doi:10.1109/IECON.2014.7049218

Bilateral control system with CDOB and band eliminate filter under time delay

Ryohei Kozuki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, the four-channel acceleration based control with communication disturbance observer and band eliminate filter is proposed. In previous research, authors proposed 4ch ABC with BEE In this method, BEF is set on position response of slave, and this method suppresses an oscillation of position response. Therefore, position response is improved. However, this method makes the large operational force, so it is necessary to improve operationality. In this paper, the method which combine previous method and communication disturbance observer(CDOB) which improve operationality is proposed. The performances of previous method and proposed method are evaluated through experiments.

Original language	English
Title of host publication	Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4745-4750
Number of pages	6
ISBN (Print)	9781479940325
DOIs	https://doi.org/10.1109/IECON.2014.7049218
Publication status	Published - 2014 Feb 24
Event	40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States Duration: 2014 Oct 30 → 2014 Nov 1

Other

Other	40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
Country	United States
City	Dallas
Period	14/10/30 → 14/11/1

Keywords

Bilateral control
Haptics
Master-slave robot system
Network
Time delay

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/IECON.2014.7049218

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Bilateral control system with CDOB and band eliminate filter under time delay. / Kozuki, Ryohei; Ohnishi, Kouhei.

Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4745-4750 7049218.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kozuki, R & Ohnishi, K 2014, Bilateral control system with CDOB and band eliminate filter under time delay. in Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society., 7049218, Institute of Electrical and Electronics Engineers Inc., pp. 4745-4750, 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014, Dallas, United States, 14/10/30. https://doi.org/10.1109/IECON.2014.7049218

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Bilateral control system with CDOB and band eliminate filter under time delay

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Keywords

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