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 |
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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 | |
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 |
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Country/Territory | 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