Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay

Shuhei Shimizu, Takuya Matsunaga, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. 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IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4633-4638
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1月 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11月 92015 11月 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域Japan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

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