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 publication2010 IEEE International Conference on Control Applications, CCA 2010
Pages2053-2058
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
Duration: 2010 Sep 82010 Sep 10

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

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

ASJC Scopus subject areas

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

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  • Cite this

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