A Method of Scaling Bilateral Control System with Time Delay in Terms of Modal Space

被引：0

作者：

Sakai, Hayata ^{[1
]}

Tomizuka, Daisuke ^{[1
]}

Ohnishi, Kouhei ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Kouho Ku, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan

来源：

PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) | 2016年

关键词：

TELEOPERATION;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper proposes a method of scaling bilateral control in the presence of time delay in terms of modal space. The bilateral control is characterized by a remote control, which return force information to the local site. Also, the bilateral control enable us to achieve dexterous tasks such as microsurgery by scaling the force/position response freely. However, bilateral control system has a problem, which is time delay, because interference between position and force control occurs and it degrades the performance and stability of the control system. In the time-delayed bilateral control, the force/position response conflict with each other, so it has been impossible to scale the force/position response separately. Hence, in this paper the control goals in bilateral control system under time delay is set to decouple force/position control. Moreover, the control goals enable us to scale force/position response in bilateral control system. The effectiveness of the proposed method is validated experimentally.

引用

页码：24 / 29

页数：6

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