Bilateral teleoperation of multiple cooperative robots with time-varying delay

Nam Duc Do, Yusuke Yamashina, Toru Namerikawa

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Control Applications, CCA 2010
ページ2053-2058
ページ数6
DOI
出版ステータスPublished - 2010 12月 1
イベント2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
継続期間: 2010 9月 82010 9月 10

出版物シリーズ

名前Proceedings of the IEEE International Conference on Control Applications

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
国/地域Japan
CityYokohama
Period10/9/810/9/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学 (全般)

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