Design of master's position controller for bilateral control system with time delay

被引：0
|
作者：
Yashiro, Daisuke [1 ]
Hieno, Tadashi [1 ]
Yubai, Kazuhiro [1 ]
Komada, Satoshi [1 ]
机构：
[1] Department of Electrical and Electronic Engineering, Mie University, 1577, Kurimamachiya, Tsu, Mie
来源：
IEEJ Transactions on Industry Applications | 2015年 / 135卷 / 03期
基金：
日本学术振兴会;
关键词：
Adaptive control; Bilateral control; Delay; Disturbance observer; Haptics; Teleoperation;
D O I：
10.1541/ieejias.135.268
中图分类号：
学科分类号：
摘要：
A time delay between a master robot and slave robot degrades the stability of a bilateral control system. Thus, this paper presents an analysis on the relations between the position controller's gain on the master side, the control performance, and the stability. The analytical results showed that the stability is guaranteed when the gain is equal to the stiffness of the contact object. Accordingly, an adaptive controller that dynamically determines the gain depending on the stiffness was designed. The validity of the adaptive controller was verified through simulations and experiments. © 2015 The Institute of Electrical Engineers of Japan.
引用
收藏
页码：268 / 275
页数：7
相关论文
共 50 条
  • [41] Elimination of Reactive Operational Force in Bilateral Control System under Time Delay
    Kozuki, Ryohei
    Ogawa, Kenji
    Ohnishi, Kouhei
    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2015, : 574 - 579
  • [42] A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator
    Hyodo, Shoyo
    Ohnishi, Kouhei
    IEEJ JOURNAL OF INDUSTRY APPLICATIONS, 2015, 4 (05) : 574 - 581
  • [43] Bilateral Control for Remote Controlled Robotic Forceps System with Time Varying Delay
    Ishii, Chiharu
    Mikami, Hiroyuki
    Nakakuki, Takashi
    Hashimoto, Hiroshi
    4TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTION (HSI 2011), 2011, : 330 - 335
  • [44] Bilateral control by state convergence based on transparency for systems with time delay
    Aracil, R.
    Azorin, J. M.
    Ferre, M.
    Pena, C.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2013, 61 (02) : 86 - 94
  • [45] Adaptive neural network control of bilateral teleoperation with constant time delay
    A. Forouzantabar
    H. A. Talebi
    A. K. Sedigh
    Nonlinear Dynamics, 2012, 67 : 1123 - 1134
  • [46] Bilateral Control under Time Delay by Using Adjustment of Equilibrium Acceleration
    Takenouchi, Tsukasa
    Murakami, Toshiyuki
    IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2020, : 118 - 123
  • [47] Bilateral teleoperation under communication time delay using an LQG controller
    Sirouspour, S
    Shahdi, A
    2005 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), VOLS 1AND 2, 2005, : 1257 - 1262
  • [48] Adaptive neural network control of bilateral teleoperation with constant time delay
    Forouzantabar, A.
    Talebi, H. A.
    Sedigh, A. K.
    NONLINEAR DYNAMICS, 2012, 67 (02) : 1123 - 1134
  • [49] Observer-based adaptive force-position control for nonlinear bilateral teleoperation with time delay
    Dehghan, Seyed Ali Mohamad
    Koofigar, Hamid Reza
    Sadeghian, Hamid
    Ekramian, Mohsen
    CONTROL ENGINEERING PRACTICE, 2021, 107
  • [50] Master-slave Teleoperation Control using Time Delay Control
    Lim, Hae Jin
    Lee, Jong Kwang
    Lee, Hyo Jik
    Kim, Kiho
    Kang, E-Sok
    INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, : 1895 - 1899
12345