Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay

Shuhei Shimizu, Takuya Matsunaga, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. The validity of the proposed method is verified through experiments.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4633-4638
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Keywords

  • bilateral control
  • haptics
  • position error
  • symmetric structure
  • time delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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    Shimizu, S., Matsunaga, T., & Ohnishi, K. (2016). Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4633-4638). [7392822] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392822