Performance enhancement of bilateral control under time delay using nonlinear filter

Hidetaka Morimitsu, Seiichiro Katsura, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Bilateral control has long been researched as a technology that facilitates the tele-operation with feedback of haptic sensation. However, it is well known that the time delay for communication between master and slave systems easily deteriorates the performance of the haptic communication. This study focuses on the use of nonlinear filter for bilateral control under time delay. It is known that the time delay in communication degrades the rendering performance of haptic sensation. The filter employed in this study is SPAN (Split PAth Nonlinear) filter, which enables the independent design of gain and phase characteristics for fundamental wave. By the filter, it is expected that the design freedom of controller is increased and performance of haptic communication under time delay is recovered. The validity of the proposed system is shown by simulation and experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages735-740
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Nonlinear Filters
Haptics
Time Delay
Time delay
Enhancement
Communication
Filter
Teleoperation
Rendering
Feedback
Controller
Controllers
Path
Experimental Results
Simulation
Design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Morimitsu, H., Katsura, S., & Ohnishi, K. (2014). Performance enhancement of bilateral control under time delay using nonlinear filter. In International Workshop on Advanced Motion Control, AMC (pp. 735-740). [6823372] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823372

Performance enhancement of bilateral control under time delay using nonlinear filter. / Morimitsu, Hidetaka; Katsura, Seiichiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 735-740 6823372.

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

Morimitsu, H, Katsura, S & Ohnishi, K 2014, Performance enhancement of bilateral control under time delay using nonlinear filter. in International Workshop on Advanced Motion Control, AMC., 6823372, Institute of Electrical and Electronics Engineers Inc., pp. 735-740, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823372
Morimitsu H, Katsura S, Ohnishi K. Performance enhancement of bilateral control under time delay using nonlinear filter. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 735-740. 6823372 https://doi.org/10.1109/AMC.2014.6823372
Morimitsu, Hidetaka ; Katsura, Seiichiro ; Ohnishi, Kouhei. / Performance enhancement of bilateral control under time delay using nonlinear filter. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 735-740
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