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

Yoshiki Ohno; Keita Shimamoto; Takahiro Mizoguchi; Kouhei Ohnishi

doi:10.1002/ecj.11740

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

Yoshiki Ohno, Keita Shimamoto, Takahiro Mizoguchi, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	34-43
Number of pages	10
Journal	Electronics and Communications in Japan
Volume	98
Issue number	7
DOIs	https://doi.org/10.1002/ecj.11740
Publication status	Published - 2015 Jul 1

Keywords

bilateral control
communication disturbance observer
haptics
time delay
work space

ASJC Scopus subject areas

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

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10.1002/ecj.11740

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

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.",

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AU - Ohno, Yoshiki

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AU - Mizoguchi, Takahiro

AU - Ohnishi, Kouhei

PY - 2015/7/1

Y1 - 2015/7/1

N2 - 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.

AB - 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.

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KW - haptics

KW - time delay

KW - work space

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

Abstract

Keywords

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