Impedance control based two-channel architecture in time delayed teleoperation system

Nobuto Yoshimura, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper proposes a two channel control architecture based on impedance transmission in time delayed teleoperation system. In conventional research, bilateral teleoperation is widely researched and bilateral control is used to obtain remote force imformation. However the performance is degraded and destabilized by time delay. Conventional approaches like smith predictor, communication disturbance observer (CDOB), and three-channel architecture improved stability of position control and reduced operational force caused by time delay, yet force control is still not stable. Damping injection can stabilize the force control, but law of action-reaction was not achieved. To achieve teleoperation using force feedback, law of action-reaction should be achieved. From the point of view, experiments are conducted and validity of the proposed method is confirmed.

本文言語English
ホスト出版物のタイトルProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1204-1209
ページ数6
ISBN(印刷版)9781479923991
DOI
出版ステータスPublished - 2014 1 1
イベント2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
継続期間: 2014 6 12014 6 4

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
国/地域Turkey
CityIstanbul
Period14/6/114/6/4

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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