Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 24-29 |
| Number of pages | 6 |
| Volume | 2016-May |
| ISBN (Electronic) | 9781467380751 |
| DOIs | |
| Publication status | Published - 2016 May 19 |
| Event | IEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan, Province of China Duration: 2016 Mar 14 → 2016 Mar 17 |
Other
| Other | IEEE International Conference on Industrial Technology, ICIT 2016 |
|---|---|
| Country/Territory | Taiwan, Province of China |
| City | Taipei |
| Period | 16/3/14 → 16/3/17 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Science Applications