A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space

Atsushi Suzuki, Kouhei Ohnishi

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping method which suppresses the higher frequency vibration than the frequency of human motion. This method improves the stability of force control in the common modal space, maintaining good operationality. The validity of the proposed control system is confirmed by some experimental results.

本文言語English
ホスト出版物のタイトルISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
ページ1779-1783
ページ数5
DOI
出版ステータスPublished - 2010 12 27
イベント2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
継続期間: 2010 7 42010 7 7

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
国/地域Italy
CityBari
Period10/7/410/7/7

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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