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

Ryohei Kozuki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4745-4750
Number of pages6
ISBN (Print)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24
Event40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
Duration: 2014 Oct 302014 Nov 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
CountryUnited States
CityDallas
Period14/10/3014/11/1

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Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

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 (pp. 4745-4750). [7049218] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7049218