Time delay compensation for tendon-driven bilateral control using modal decomposition and communication disturbance observer

Keita Shimamoto, Yoshiki Ohno, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Conference contribution

抄録

Master-slave robots with transmission of force sensation have gotten a lot of attention. 4ch-bilateral control realizes the transmission. Realizing lightweight multi-DOF robots for the system and compensating adverse effects based on communication delay are challenges for the system. For realizing lightweight multi-DOF robots, tendon-driven mechanisms are suitable as driven systems and driving systems can be separated. In order to compensate the adverse effects from communication delay, communication disturbance observer (CDOB) can be applied. CDOB requires slave system model. As it is difficult to make a model of force acting on slave system is difficult, CDOB is not appropriate for force control. However, tension control is based on force control. Therefore, in this paper, a time delay compensation method for bilateral control system with tendon-driven mechanisms is proposed. In this method, tension control and CDOB are constructed in different mode, which are independent of each other. The experimental results of the proposed method show the validity. Strings were strained with desired force by the tension control, and the adverse effects of communication disturbance was compensated by CDOB.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Industrial Technology
出版社Institute of Electrical and Electronics Engineers Inc.
ページ29-34
ページ数6
ISBN(電子版)9781479939398
DOI
出版ステータスPublished - 2014 9月 9
イベント2014 IEEE International Conference on Industrial Technology, ICIT 2014 - Busan, Korea, Republic of
継続期間: 2014 2月 262014 3月 1

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2014 IEEE International Conference on Industrial Technology, ICIT 2014
国/地域Korea, Republic of
CityBusan
Period14/2/2614/3/1

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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