Admittance control-based bilateral control system considering position error

研究成果: Conference contribution

抄録

This paper proposes a bilateral control system implementing an admittance control system. Bilateral control system realizes teleoperation of a remote robot with a sense of touch. We focus on an admittance-based bilateral control system, which needs only two communication channels and has almost the same control performance as an acceleration-based bilateral control system, which is one of the highest transparent teleoperation systems. However, the conventional admittance-based system assumes an ideal communication situation where there is no communication time delay and no packet loss and has possible to increase position error as time goes on in practical use. The proposed admittance-based system achieves the same control performance as the conventional structure without increasing position error even if there is a communication delay. The validity of the proposed system is confirmed through simulations and experiments.

本文言語English
ホスト出版物のタイトル2021 IEEE International Conference on Mechatronics, ICM 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728144429
DOI
出版ステータスPublished - 2021 3 7
イベント2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan
継続期間: 2021 3 72021 3 9

出版物シリーズ

名前2021 IEEE International Conference on Mechatronics, ICM 2021

Conference

Conference2021 IEEE International Conference on Mechatronics, ICM 2021
CountryJapan
CityKashiwa
Period21/3/721/3/9

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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