Synchronized control for teleoperation with different configurations and communication delay

Hisanosuke Kawada, Kouei Yoshida, Toru Namerikawa

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

30 Citations (Scopus)

Abstract

This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.

Original languageEnglish
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages2546-2551
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: 2007 Dec 122007 Dec 14

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period07/12/1207/12/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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