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 publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages735-740
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

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  • Cite this

    Morimitsu, H., Katsura, S., & Ohnishi, K. (2014). Performance enhancement of bilateral control under time delay using nonlinear filter. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 735-740). [6823372] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823372