Synchronized control for teleoperation with different configurations and communication delay

Hisanosuke Kawada, Kouei Yoshida, Toru Namerikawa

研究成果: Conference contribution

30 被引用数 (Scopus)

抄録

This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2546-2551
ページ数6
ISBN(印刷版)1424414989, 9781424414987
DOI
出版ステータスPublished - 2007
外部発表はい
イベント46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
継続期間: 2007 12月 122007 12月 14

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
ISSN(印刷版)0743-1546
ISSN(電子版)2576-2370

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
国/地域United States
CityNew Orleans, LA
Period07/12/1207/12/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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