A bilateral controller design method using delay compensators

Noriko Iiyama, Kenji Natori, Ryogo Kubo, Kouhei Ohnishi, Hirotaka Furukawa, Kanako Miura, Minoru Takahata

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

Since communication time delay is a serious problem for bilateral control systems, a great number of researches about delay compensation in bilateral teleoperation with time delay have been studied so far. Some of delay compensators are designed to eliminate phase lag of feedback control and applicable to 4ch-controllers. However, the desired results are not always obtained, even though those compensators are applied to the conventional bilateral 4ch-controller with time delay. This is because these compensators do not take force controllers into account. This paper presents a bilateral 4ch-controller that delay compensators are applied to by considering the force controllers. The proposed controller is designed to control both position and force of a master robot and a slave robot by using only 2 degrees of freedom (DOF). One DOF is utilized for position control, and the other is utilized for force control. Therefore, the position controller and the force controller are shared by the master and slave robots. If delay compensators are applied to the proposed bilateral controller, position and force responses of the master robot correspond with those values of the slave robot, respectively. The validity of the proposed method is verified by simulation and experimental results.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ836-841
ページ数6
DOI
出版ステータスPublished - 2006
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12月 152006 12月 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
国/地域India
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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