Realization of simultaneity in bilateral teleoperation system under time delay

Satoshi Nishimura, Seiichiro Katsura

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

4 Citations (Scopus)

Abstract

Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other, time delay is included inside the control system. The time delay impedes the momentary realization of control goals, consequently destabilizing the whole control system and degrading the force sensation. Therefore this paper proposes a control system that realizes position synchronization in bilateral control under communication delay. One of the control goal is realized regardless of the time delay by using the proposed method. The phase lag compensator is used for stabilizing the control system. The physical meaning of the phase compensator is disclosed in the paper. Experiments were conducted to verify the validity of the proposed method.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages770-775
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

    Nishimura, S., & Katsura, S. (2014). Realization of simultaneity in bilateral teleoperation system under time delay. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 770-775). [6823378] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823378