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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationAdvances in Reconfigurable Mechanisms and Robots I
Pages681-695
Number of pages15
DOIs
Publication statusPublished - 2012 Dec 1
Event2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012 - Tianjin, China
Duration: 2012 Jul 92012 Jul 11

Publication series

NameAdvances in Reconfigurable Mechanisms and Robots I

Other

Other2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
CountryChina
CityTianjin
Period12/7/912/7/11

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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