Design of force compensator with variable gain for bilateral control system under time delay

Hidetaka Morimitsu, Seiichiro Katsura, Masayoshi Tomizuka

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

3 Citations (Scopus)

Abstract

This study deals with a bilateral control system under communication delay. Control structure is designed to be symmetric among master and slave devices in proposed system, in order to realize the same performance as much as possible even though master and slave side is replaced. Then, this research aims to improve the performance of position tracking in free motion and aims to ensure zero steady state errors of both position and force control in contact motion. The time delay is compensated at force controller section and its gain is varied according to the force responses of master and slave motors. By the proposed method, haptic communication with enhanced performance under communication delay is expected. The validity of proposal is shown by experimental results.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
DOIs
Publication statusPublished - 2013
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

Fingerprint

Time delay
Control systems
Communication
Force control
Position control
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Morimitsu, H., Katsura, S., & Tomizuka, M. (2013). Design of force compensator with variable gain for bilateral control system under time delay. In IEEE International Symposium on Industrial Electronics [6563744] https://doi.org/10.1109/ISIE.2013.6563744

Design of force compensator with variable gain for bilateral control system under time delay. / Morimitsu, Hidetaka; Katsura, Seiichiro; Tomizuka, Masayoshi.

IEEE International Symposium on Industrial Electronics. 2013. 6563744.

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

Morimitsu, H, Katsura, S & Tomizuka, M 2013, Design of force compensator with variable gain for bilateral control system under time delay. in IEEE International Symposium on Industrial Electronics., 6563744, 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013, Taipei, Taiwan, Province of China, 13/5/28. https://doi.org/10.1109/ISIE.2013.6563744
Morimitsu H, Katsura S, Tomizuka M. Design of force compensator with variable gain for bilateral control system under time delay. In IEEE International Symposium on Industrial Electronics. 2013. 6563744 https://doi.org/10.1109/ISIE.2013.6563744
Morimitsu, Hidetaka ; Katsura, Seiichiro ; Tomizuka, Masayoshi. / Design of force compensator with variable gain for bilateral control system under time delay. IEEE International Symposium on Industrial Electronics. 2013.
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