Bilateral teleoperation of multiple cooperative robots with time-varying delay

Nam Duc Do, Yusuke Yamashina, Toru Namerikawa

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

6 Citations (Scopus)

Abstract

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages2053-2058
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
Duration: 2010 Sep 82010 Sep 10

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
CountryJapan
CityYokohama
Period10/9/810/9/10

Fingerprint

Teleoperation
Remote control
Time-varying Delay
Robot
Robots
Decompose
Asymptotical Stability
Decomposition
Line
Communication
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Do, N. D., Yamashina, Y., & Namerikawa, T. (2010). Bilateral teleoperation of multiple cooperative robots with time-varying delay. In Proceedings of the IEEE International Conference on Control Applications (pp. 2053-2058). [5611336] https://doi.org/10.1109/CCA.2010.5611336

Bilateral teleoperation of multiple cooperative robots with time-varying delay. / Do, Nam Duc; Yamashina, Yusuke; Namerikawa, Toru.

Proceedings of the IEEE International Conference on Control Applications. 2010. p. 2053-2058 5611336.

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

Do, ND, Yamashina, Y & Namerikawa, T 2010, Bilateral teleoperation of multiple cooperative robots with time-varying delay. in Proceedings of the IEEE International Conference on Control Applications., 5611336, pp. 2053-2058, 2010 IEEE International Conference on Control Applications, CCA 2010, Yokohama, Japan, 10/9/8. https://doi.org/10.1109/CCA.2010.5611336
Do ND, Yamashina Y, Namerikawa T. Bilateral teleoperation of multiple cooperative robots with time-varying delay. In Proceedings of the IEEE International Conference on Control Applications. 2010. p. 2053-2058. 5611336 https://doi.org/10.1109/CCA.2010.5611336
Do, Nam Duc ; Yamashina, Yusuke ; Namerikawa, Toru. / Bilateral teleoperation of multiple cooperative robots with time-varying delay. Proceedings of the IEEE International Conference on Control Applications. 2010. pp. 2053-2058
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