Bilateral Control under Time Delay by Using Adjustment of Equilibrium Acceleration

Tsukasa Takenouchi, Toshiyuki Murakami

研究成果: Conference contribution

抄録

This paper aims to lower the operational force for bilateral control under time delay while guaranteeing stability. Bilateral teleoperation system enables humans to work in remote places. However, time delay on network impairs the stability and the performance. The conventional method has trade-off problem between stability and operationality. This paper introduces the concept of equilibrium acceleration, which includes both position and force information, and proposes a method to detect vibration based on the difference of equilibrium acceleration. As a result, the algorithm can be considered simply, and it is possible to stabilize only during vibration and improve the operationality in free motion. Since this paper does not focus on frequency, but vibration, damping control works only during vibration and the operational force can be reduced compared to the conventional method. The effectiveness of the proposed method is verified by simulations and experiments.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2020
ホスト出版物のサブタイトル46th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ118-123
ページ数6
ISBN(電子版)9781728154145
DOI
出版ステータスPublished - 2020 10月 18
イベント46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
継続期間: 2020 10月 192020 10月 21

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
国/地域Singapore
CityVirtual, Singapore
Period20/10/1920/10/21

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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