Inverse scaled four channel control system with wave variables under time delay

Baris Yalcin, Kouhei Ohnishi

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

Abstract

Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control systems. Performance improvement of time delayed control systems is carried out by introducing four channel control structure which transmits both of the position and force information to the master and slave robots by using wave variables. The bandwidth of environment perception is highly improved by wave variables data transmission and reaction force observer based sensorless force observation. Additionally, inverse scaling of control data in master and slave robots makes it possible to consider the drift problem which is caused by wave reflections, not only in damping terms but also in mass terms. In other words, acceleration dimension is directly introduced into the wave variables approach as well as the same dimension is used in overall control structure. Real time experiments are carried out to show the validity of our approach.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

Fingerprint

Time delay
Control systems
Conservation
Robots
Maneuverability
Remote control
Data communication systems
Damping
Bandwidth
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Yalcin, B., & Ohnishi, K. (2009). Inverse scaled four channel control system with wave variables under time delay. In Proceedings of the IEEE International Conference on Industrial Technology [4939709] https://doi.org/10.1109/ICIT.2009.4939709

Inverse scaled four channel control system with wave variables under time delay. / Yalcin, Baris; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939709.

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

Yalcin, B & Ohnishi, K 2009, Inverse scaled four channel control system with wave variables under time delay. in Proceedings of the IEEE International Conference on Industrial Technology., 4939709, 2009 IEEE International Conference on Industrial Technology, ICIT 2009, Churchill, VIC, Australia, 09/2/10. https://doi.org/10.1109/ICIT.2009.4939709
Yalcin B, Ohnishi K. Inverse scaled four channel control system with wave variables under time delay. In Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939709 https://doi.org/10.1109/ICIT.2009.4939709
Yalcin, Baris ; Ohnishi, Kouhei. / Inverse scaled four channel control system with wave variables under time delay. Proceedings of the IEEE International Conference on Industrial Technology. 2009.
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