Compensation method of position error in bilateral control system under time delay

Shuhei Shimizu, Yoshiki Ohno, Kazuki Tanida, Kouhei Ohnishi

研究成果: Conference contribution

抄録

Position error between master and slave occurs in bilateral control system under time delay and it is undesirable for delicate works. To solve this problem, this paper proposes a compensation method of position error in bilateral control under time delay. Firstly, the cause of position error is expressed. After that, it is shown that 3-channel bilateral control system, which is the conventional method, compensates position error. However, 3-channel bilateral control system is known to be unstable in contact motion. In 3-channel bilateral control system, a compensation term is added in master. In contrast, in the proposed method, a compensation term is added in slave. Moreover, stable contact motion and compensation of position error are realized. The validity of the proposed method is verified through experiments.

本文言語English
ホスト出版物のタイトルProceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ358-363
ページ数6
ISBN(印刷版)9781479966493
DOI
出版ステータスPublished - 2015 9月 28
イベント13th International Conference on Industrial Informatics, INDIN 2015 - Cambridge, United Kingdom
継続期間: 2015 7月 222015 7月 24

Other

Other13th International Conference on Industrial Informatics, INDIN 2015
国/地域United Kingdom
CityCambridge
Period15/7/2215/7/24

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 産業および生産工学
  • 器械工学
  • コンピュータ ネットワークおよび通信
  • 制御およびシステム工学

フィンガープリント

「Compensation method of position error in bilateral control system under time delay」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル