抄録
This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dynamics, the use of the delayed information is avoided. Thus, the performance degradation due to communication time delay can be alleviated. The adaptive impedance control is used to linearize the robot with parametric uncertainties. Proposed predictive PD control method does not require the environmental dynamic model and can achieve the position coordination and the static force reflection in certain conditions. The stability and position coordination are guaranteed by using the Lyapunov theorem. Experimental results show the effectiveness of proposed teleoperation.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| 巻 | 17 |
| エディション | 1 PART 1 |
| DOI | |
| 出版物ステータス | Published - 2008 |
| 外部発表 | Yes |
| イベント | 17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of 継続期間: 2008 7 6 → 2008 7 11 |
Other
| Other | 17th World Congress, International Federation of Automatic Control, IFAC |
|---|---|
| 国 | Korea, Republic of |
| 市 | Seoul |
| 期間 | 08/7/6 → 08/7/11 |
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ASJC Scopus subject areas
- Control and Systems Engineering
これを引用
Predictive PD control for teleoperation with communication time delay. / Yoshida, Kouei; Namerikawa, Toru.
IFAC Proceedings Volumes (IFAC-PapersOnline). 巻 17 1 PART 1. 編 2008.研究成果: Conference contribution
}
TY - GEN
T1 - Predictive PD control for teleoperation with communication time delay
AU - Yoshida, Kouei
AU - Namerikawa, Toru
PY - 2008
Y1 - 2008
N2 - This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dynamics, the use of the delayed information is avoided. Thus, the performance degradation due to communication time delay can be alleviated. The adaptive impedance control is used to linearize the robot with parametric uncertainties. Proposed predictive PD control method does not require the environmental dynamic model and can achieve the position coordination and the static force reflection in certain conditions. The stability and position coordination are guaranteed by using the Lyapunov theorem. Experimental results show the effectiveness of proposed teleoperation.
AB - This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dynamics, the use of the delayed information is avoided. Thus, the performance degradation due to communication time delay can be alleviated. The adaptive impedance control is used to linearize the robot with parametric uncertainties. Proposed predictive PD control method does not require the environmental dynamic model and can achieve the position coordination and the static force reflection in certain conditions. The stability and position coordination are guaranteed by using the Lyapunov theorem. Experimental results show the effectiveness of proposed teleoperation.
KW - Networked robotic system modelling and control
KW - Robots manipulators
KW - Telerobotics
UR - http://www.scopus.com/inward/record.url?scp=79961018699&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961018699&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2743
DO - 10.3182/20080706-5-KR-1001.2743
M3 - Conference contribution
AN - SCOPUS:79961018699
SN - 9783902661005
VL - 17
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
ER -