A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration

Yoshiki Ohno, Ryohei Kozuki, Keita Shimamoto, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

This paper proposes a novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. Bilateral control is a remote control technology, which enables transmission of force sensation. Time-delay is the one of the problems of the bilateral control, because it degrades the transparency and stability of the control system. Communication disturbance observer (CDOB) has been proposed to compensate time-delay without dead time model. However, CDOB cannot compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Therefore, this paper proposes a novel observer, work space communication disturbance observer (WCDOB), for time-delay compensation. The proposed method can compensate time-delay if the bilateral control system has different configuration and is controlled in work space. Experiments were conducted by using actual network. The experimental results show the validity of the proposed method.

元の言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ3275-3280
ページ数6
DOI
出版物ステータスPublished - 2013 12 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11 102013 11 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Austria
Vienna
期間13/11/1013/11/14

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Ohno, Y., Kozuki, R., Shimamoto, K., & Ohnishi, K. (2013). A novel time-delay compensation method for multi degree-of-freedom bilateral control system with different configuration. : Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 3275-3280). [6699653] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699653