Design of force compensator with variable gain for bilateral control system under time delay

Hidetaka Morimitsu, Seiichiro Katsura, Masayoshi Tomizuka

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

This study deals with a bilateral control system under communication delay. Control structure is designed to be symmetric among master and slave devices in proposed system, in order to realize the same performance as much as possible even though master and slave side is replaced. Then, this research aims to improve the performance of position tracking in free motion and aims to ensure zero steady state errors of both position and force control in contact motion. The time delay is compensated at force controller section and its gain is varied according to the force responses of master and slave motors. By the proposed method, haptic communication with enhanced performance under communication delay is expected. The validity of proposal is shown by experimental results.

本文言語English
ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOI
出版ステータスPublished - 2013
イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
継続期間: 2013 5 282013 5 31

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
国/地域Taiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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