Stability Improvement of Bilateral Teleoperation with Time Delay by Velocity Difference Damping Based on Performance Analysis in Modal Space
-
- Suzuki Atsushi
- Department of System Design Engineering, Keio University
-
- Ohnishi Kouhei
- Department of System Design Engineering, Keio University
Bibliographic Information
- Other Title
-
- 通信遅延下におけるモード空間の性能解析に基づいた速度差減衰によるバイラテラル遠隔操作の安定性向上手法
- ツウシン チエン カ ニ オケル モード クウカン ノ セイノウ カイセキ ニ モトズイタ ソクドサ ゲンスイ ニ ヨル バイラテラル エンカク ソウサ ノ アンテイセイ コウジョウ シュホウ
Search this article
Abstract
The four-channel bilateral system that is a hybrid of position and force in the acceleration dimension based on a disturbance observer can be divided into two modal spaces: common and differential modal spaces. In the four-channel bilateral system, bilateral position control is implemented in the differential modal space, and bilateral force control is implemented in the common modal space, respectively. On the other hand, In the three-channel system, unilateral position control is implemented in the slave side, and bilateral force control is implemented in the common modal space. This paper analyzes the performance of position control and force control in four-channel and three-channel systems under time delay. According to the analysis, this paper proposes a method of velocity difference damping that utilizes the velocity difference between the robot and the robot model. This method improves the performance and stability of bilateral force control in the common modal space without deteriorating the position control. The validity of the proposed control system is confirmed by some experimental results.
Journal
-
- IEEJ Transactions on Industry Applications
-
IEEJ Transactions on Industry Applications 130 (2), 243-250, 2010
The Institute of Electrical Engineers of Japan
- Tweet
Keywords
Details 詳細情報について
-
- CRID
- 1390282679634527232
-
- NII Article ID
- 10026229838
-
- NII Book ID
- AN10012320
-
- ISSN
- 13488163
- 09136339
-
- NDL BIB ID
- 10568954
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
-
- Abstract License Flag
- Disallowed