This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.
|Title of host publication
|IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2016 Jan 25
|41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 9 → 2015 Nov 12
|41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
|15/11/9 → 15/11/12
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering