TY - GEN
T1 - Band eliminate filter design for bilateral control system under time delay
AU - Kozuki, Ryohei
AU - Ohno, Yoshiki
AU - Suzuki, Daiki
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.
AB - In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.
KW - Bilateral control
KW - Haptics
KW - Master-slave robot system
KW - Network
UR - http://www.scopus.com/inward/record.url?scp=84903171117&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903171117&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823299
DO - 10.1109/AMC.2014.6823299
M3 - Conference contribution
AN - SCOPUS:84903171117
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 302
EP - 307
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -