2122 Synchronized Control for Teleoperation with Different Configurations

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  • 2122 異構造を考慮したテレオペレーションの同調制御(フォーメーション制御の理論と応用)

Abstract

This paper deals with a synchronized control of teleoperation system with different configurations and communication delay. We propose the passivity-based synchronized control method with individual controller gains for master and slave arm considering different configurations and force scaling. The force scaling effect can be independent of position scaling effect by using this method. The asymptotic stability of our teleoperation is proven by using a passivity of the systems and Lyapunov stability methods. Experimental results show the effectiveness of our proposed teleoperation.

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