Transparency analysis of a force sensorless master-slave control by force feedback based virtual impedance controller with time delay

Ryosuke Horie, Kiyotoshi Komuta, Toshiyuki Murakami

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, an analysis of a master-slave control by force feedback based virtual impedance controller with time delay is conducted. Especially, the relationship between time delay and transparency is focused on. The proposed method consists of force feedback based virtual impedance controller of master manipulator and perfect tracking position controller of slave manipulator. From the controller analysis, it is confirmed that the relationship of "Reproducibility" and "Operationality" is simple in the proposed method and this makes clear parameter design of the controller as compared with conventional method. This is one of the remarkable points. Moreover, the proposed controller can be flexibly applied to many kinds of time-delayed teleoperation systems because models of a slave robot and communication time delay are not required. The validity of proposed controller is verified by some simulations.

本文言語English
ホスト出版物のタイトルAdvances in Reconfigurable Mechanisms and Robots I
ページ681-695
ページ数15
DOI
出版ステータスPublished - 2012 12 1
イベント2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012 - Tianjin, China
継続期間: 2012 7 92012 7 11

出版物シリーズ

名前Advances in Reconfigurable Mechanisms and Robots I

Other

Other2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
国/地域China
CityTianjin
Period12/7/912/7/11

ASJC Scopus subject areas

  • 計算理論と計算数学
  • コンピュータ ビジョンおよびパターン認識
  • ソフトウェア

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