Method of Time-Delay Compensation in Multi-Degree-of-Freedom Bilateral Control Systems with Different Configurations

Yoshiki Ohno, Keita Shimamoto, Takahiro Mizoguchi, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

In this paper, a time-delay compensation method based on a work space communication disturbance observer (WCDOB) is proposed. Time delay degrades the stability of a control system. A communication disturbance observer (CDOB) has been proposed to solve this problem. However, CDOB cannot compensate for time delay in multi-degree-of-freedom bilateral control systems with different configurations, because the inertia of the robots is not fixed. In contrast, WCDOB can estimate the time delay based on work space information and compensate for them. The experimental results confirm the validity of the proposed method.

Original languageEnglish
Pages (from-to)34-43
Number of pages10
JournalElectronics and Communications in Japan
Volume98
Issue number7
DOIs
Publication statusPublished - 2015 Jul 1

Fingerprint

Disturbance Observer
Time Delay
Time delay
Workspace
disturbances
time lag
degrees of freedom
Degree of freedom
Control System
space communication
Control systems
Configuration
Communication
configurations
communication
robots
inertia
Inertia
Robot
Robots

Keywords

  • bilateral control
  • communication disturbance observer
  • haptics
  • time delay
  • work space

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

Cite this

Method of Time-Delay Compensation in Multi-Degree-of-Freedom Bilateral Control Systems with Different Configurations. / Ohno, Yoshiki; Shimamoto, Keita; Mizoguchi, Takahiro; Ohnishi, Kouhei.

In: Electronics and Communications in Japan, Vol. 98, No. 7, 01.07.2015, p. 34-43.

Research output: Contribution to journalArticle

Ohno, Yoshiki ; Shimamoto, Keita ; Mizoguchi, Takahiro ; Ohnishi, Kouhei. / Method of Time-Delay Compensation in Multi-Degree-of-Freedom Bilateral Control Systems with Different Configurations. In: Electronics and Communications in Japan. 2015 ; Vol. 98, No. 7. pp. 34-43.
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