Time delay compensation for DOB-based contact force control under time delay

Tetsuya Tashiro, Takahiro Mizoguchi, Tomoyuki Shimono, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

This paper proposes the time delay compensation for DOB-based contact force control under time delay. The proposed method is based on the concept of Network Disturbance. Firstly, this paper introduces the contact force control, and shows the simulation results. Then, the contact force control under time delay is introduced. The stability is discussed by the transfer function. Furthermore, the simulation and experimental results indicate the instability of the system. Finally, the time delay compensation method is proposed. To confirm the stability, the transfer function is derived for the proposed system. Furthermore, the simulation and experiment are conducted to show the validity of the proposed method. From the results, the performance of the time delay compensation is confirmed.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages214-219
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Tashiro, T., Mizoguchi, T., Shimono, T., & Ohnishi, K. (2017). Time delay compensation for DOB-based contact force control under time delay. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 214-219). [7921106] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921106