Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem

Nam Duc Do, Toru Namerikawa

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

9 Citations (Scopus)

Abstract

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages4079-4086
Number of pages8
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

Keywords

  • Bilateral teleoperation
  • Communication delays
  • Force-reflection
  • Impedance control
  • Input-to-state stable

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

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    Do, N. D., & Namerikawa, T. (2009). Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 4079-4086). [5334253] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).