Transparency analysis of a force sensorless master-slave control by force feedback based virtual impedance controller with time delay

Ryosuke Horie; Kiyotoshi Komuta; Toshiyuki Murakami

doi:10.1007/978-1-4471-4141-9_61

Transparency analysis of a force sensorless master-slave control by force feedback based virtual impedance controller with time delay

Ryosuke Horie, Kiyotoshi Komuta, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, an analysis of a master-slave control by force feedback based virtual impedance controller with time delay is conducted. Especially, the relationship between time delay and transparency is focused on. The proposed method consists of force feedback based virtual impedance controller of master manipulator and perfect tracking position controller of slave manipulator. From the controller analysis, it is confirmed that the relationship of "Reproducibility" and "Operationality" is simple in the proposed method and this makes clear parameter design of the controller as compared with conventional method. This is one of the remarkable points. Moreover, the proposed controller can be flexibly applied to many kinds of time-delayed teleoperation systems because models of a slave robot and communication time delay are not required. The validity of proposed controller is verified by some simulations.

Original language	English
Title of host publication	Advances in Reconfigurable Mechanisms and Robots I
Pages	681-695
Number of pages	15
DOIs	https://doi.org/10.1007/978-1-4471-4141-9_61
Publication status	Published - 2012 Dec 1
Event	2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012 - Tianjin, China Duration: 2012 Jul 9 → 2012 Jul 11

Publication series

Name	Advances in Reconfigurable Mechanisms and Robots I

Other

Other	2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
Country	China
City	Tianjin
Period	12/7/9 → 12/7/11

Keywords

Force feedback
Master-slave system
Operationality
Reproducibility
Time delay
Virtual impedance control

ASJC Scopus subject areas

Computational Theory and Mathematics
Computer Vision and Pattern Recognition
Software

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10.1007/978-1-4471-4141-9_61

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Transparency analysis of a force sensorless master-slave control by force feedback based virtual impedance controller with time delay. / Horie, Ryosuke; Komuta, Kiyotoshi; Murakami, Toshiyuki.

Advances in Reconfigurable Mechanisms and Robots I. 2012. p. 681-695 (Advances in Reconfigurable Mechanisms and Robots I).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Horie, R, Komuta, K & Murakami, T 2012, Transparency analysis of a force sensorless master-slave control by force feedback based virtual impedance controller with time delay. in Advances in Reconfigurable Mechanisms and Robots I. Advances in Reconfigurable Mechanisms and Robots I, pp. 681-695, 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012, Tianjin, China, 12/7/9. https://doi.org/10.1007/978-1-4471-4141-9_61

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