TY - GEN
T1 - Performance enhancement of bilateral control under time delay using nonlinear filter
AU - Morimitsu, Hidetaka
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84903158992&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903158992&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823372
DO - 10.1109/AMC.2014.6823372
M3 - Conference contribution
AN - SCOPUS:84903158992
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 735
EP - 740
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -