TY - GEN
T1 - Transparency analysis of a force sensorless master-slave control by force feedback based virtual impedance controller with time delay
AU - Horie, Ryosuke
AU - Komuta, Kiyotoshi
AU - Murakami, Toshiyuki
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
KW - Force feedback
KW - Master-slave system
KW - Operationality
KW - Reproducibility
KW - Time delay
KW - Virtual impedance control
UR - http://www.scopus.com/inward/record.url?scp=84875672133&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84875672133&partnerID=8YFLogxK
U2 - 10.1007/978-1-4471-4141-9_61
DO - 10.1007/978-1-4471-4141-9_61
M3 - Conference contribution
AN - SCOPUS:84875672133
SN - 9781447141402
T3 - Advances in Reconfigurable Mechanisms and Robots I
SP - 681
EP - 695
BT - Advances in Reconfigurable Mechanisms and Robots I
T2 - 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
Y2 - 9 July 2012 through 11 July 2012
ER -