Time delay compensation for tendon-driven bilateral control using modal decomposition and communication disturbance observer

Keita Shimamoto, Yoshiki Ohno, Takahiro Nozaki, Kouhei Ohnishi

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

Abstract

Master-slave robots with transmission of force sensation have gotten a lot of attention. 4ch-bilateral control realizes the transmission. Realizing lightweight multi-DOF robots for the system and compensating adverse effects based on communication delay are challenges for the system. For realizing lightweight multi-DOF robots, tendon-driven mechanisms are suitable as driven systems and driving systems can be separated. In order to compensate the adverse effects from communication delay, communication disturbance observer (CDOB) can be applied. CDOB requires slave system model. As it is difficult to make a model of force acting on slave system is difficult, CDOB is not appropriate for force control. However, tension control is based on force control. Therefore, in this paper, a time delay compensation method for bilateral control system with tendon-driven mechanisms is proposed. In this method, tension control and CDOB are constructed in different mode, which are independent of each other. The experimental results of the proposed method show the validity. Strings were strained with desired force by the tension control, and the adverse effects of communication disturbance was compensated by CDOB.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages29-34
Number of pages6
ISBN (Electronic)9781479939398
DOIs
Publication statusPublished - 2014 Sep 9
Event2014 IEEE International Conference on Industrial Technology, ICIT 2014 - Busan, Korea, Republic of
Duration: 2014 Feb 262014 Mar 1

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2014 IEEE International Conference on Industrial Technology, ICIT 2014
CountryKorea, Republic of
CityBusan
Period14/2/2614/3/1

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Shimamoto, K., Ohno, Y., Nozaki, T., & Ohnishi, K. (2014). Time delay compensation for tendon-driven bilateral control using modal decomposition and communication disturbance observer. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 29-34). (Proceedings of the IEEE International Conference on Industrial Technology). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2014.6894967