Circle theorem-based realization of nonlinear force control for teleoperation under time delay

Hidetaka Morimitsu, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The communication delay is one of the major problems existing in the bilateral teleoperation system since it largely degrades the performance. This study treats the acceleration-based bilateral control (ABC) as a basic controller. According to the analyses, it is shown that a trade-off between the operationality and the reproduction performance of the kinesthetic contact exists in designing the ABC under time delay. For addressing this, adjustment of the force control gain according to the situations of the bilateral control is proposed. For ensuring the stability of the system with the nonlinear controller, circle theorem is applied to the proposed system. Experimental results show that the proposed system can realize stable operation as well as the improved performance over the bilateral control system with constant gain.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ562-567
ページ数6
ISBN(電子版)9781479936335
DOI
出版ステータスPublished - 2015 4月 9
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3月 62015 3月 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
国/地域Japan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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