Bilateral Control System with CDOB and Band Eliminate Filter under Time Delay

被引：0
|
作者：
Kozuki, Ryohei [1 ]
Ohnishi, Kouhei [2 ]
机构：
[1] Keio Univ, Grad Sch Sci & Technol, Yokohama, Kanagawa, Japan
[2] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa, Japan
来源：
IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2014年
关键词：
bilateral control; haptics; network; master-slave robot system; time delay; TELEOPERATION; TRANSPARENCY; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the four-channel acceleration based control with communication disturbance observer and band eliminate filter is proposed. In previous research, authors proposed 4ch ABC with BEF. In this method, BEF is set on position response of slave, and this method suppresses an oscillation of position response. Therefore, position response is improved. However, this method makes the large operational force, so it is necessary to improve operationality. In this paper, the method which combine previous method and communication disturbance observer(CDOB) which improve operationality is proposed. The performances of previous method and proposed method are evaluated through experiments.
引用
收藏
页码：4745 / 4750
页数：6
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