Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay

Atsushi Suzuki; Takahiro Mizoguchi; Kouhei Ohnishi

doi:10.1109/ISIE.2013.6563681

Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay

Atsushi Suzuki, Takahiro Mizoguchi, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

This paper analyzes the performance of Reproducibility and Operationality in bilateral teleoperation under time delay. Acceleration-based bilateral control(ABC) is hybrid of position control and force control in orthogonally-crossed two modal space. This paper analyzes the effect of each modal space on reproducibility and operationality. Based on analysis, this paper proposes a novel 4ch ABC design and the most appropriate controller gain value of position and force controller for balancing Reproducibility and Operationality in consideration of time delay effect. The validity of proposed system is demonstrated in some experimental results.

Original language	English
Title of host publication	2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs	https://doi.org/10.1109/ISIE.2013.6563681
Publication status	Published - 2013 Aug 22
Event	2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China Duration: 2013 May 28 → 2013 May 31

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Country/Territory	Taiwan, Province of China
City	Taipei
Period	13/5/28 → 13/5/31

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.2013.6563681

Cite this

Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay. / Suzuki, Atsushi; Mizoguchi, Takahiro; Ohnishi, Kouhei.
2013 IEEE International Symposium on Industrial Electronics, ISIE 2013. 2013. 6563681 (IEEE International Symposium on Industrial Electronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Suzuki, A, Mizoguchi, T & Ohnishi, K 2013, Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay. in 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013., 6563681, IEEE International Symposium on Industrial Electronics, 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013, Taipei, Taiwan, Province of China, 13/5/28. https://doi.org/10.1109/ISIE.2013.6563681

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AB - This paper analyzes the performance of Reproducibility and Operationality in bilateral teleoperation under time delay. Acceleration-based bilateral control(ABC) is hybrid of position control and force control in orthogonally-crossed two modal space. This paper analyzes the effect of each modal space on reproducibility and operationality. Based on analysis, this paper proposes a novel 4ch ABC design and the most appropriate controller gain value of position and force controller for balancing Reproducibility and Operationality in consideration of time delay effect. The validity of proposed system is demonstrated in some experimental results.

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Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay

Abstract

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