Abstract
Position error between master and slave occurs in bilateral control system under time delay and it is undesirable for delicate works. To solve this problem, this paper proposes a compensation method of position error in bilateral control under time delay. Firstly, the cause of position error is expressed. After that, it is shown that 3-channel bilateral control system, which is the conventional method, compensates position error. However, 3-channel bilateral control system is known to be unstable in contact motion. In 3-channel bilateral control system, a compensation term is added in master. In contrast, in the proposed method, a compensation term is added in slave. Moreover, stable contact motion and compensation of position error are realized. The validity of the proposed method is verified through experiments.
| Original language | English |
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| Title of host publication | Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 358-363 |
| Number of pages | 6 |
| ISBN (Print) | 9781479966493 |
| DOIs | |
| Publication status | Published - 2015 Sept 28 |
| Event | 13th International Conference on Industrial Informatics, INDIN 2015 - Cambridge, United Kingdom Duration: 2015 Jul 22 → 2015 Jul 24 |
Other
| Other | 13th International Conference on Industrial Informatics, INDIN 2015 |
|---|---|
| Country/Territory | United Kingdom |
| City | Cambridge |
| Period | 15/7/22 → 15/7/24 |
Keywords
- bilateral control
- haptics
- operational force
- position error
- time delay
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Industrial and Manufacturing Engineering
- Instrumentation
- Computer Networks and Communications
- Control and Systems Engineering