Band eliminate filter design for bilateral control system under time delay

Ryohei Kozuki; Yoshiki Ohno; Daiki Suzuki; Kouhei Ohnishi

doi:10.1109/AMC.2014.6823299

Band eliminate filter design for bilateral control system under time delay

Ryohei Kozuki, Yoshiki Ohno, Daiki Suzuki, Kouhei Ohnishi

Department of System Design Engineering

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

3 Citations (Scopus)

Abstract

In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.

Original language	English
Title of host publication	2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	302-307
Number of pages	6
ISBN (Print)	9781479923243
DOIs	https://doi.org/10.1109/AMC.2014.6823299
Publication status	Published - 2014 Jan 1
Event	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan Duration: 2014 Mar 14 → 2014 Mar 16

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Country/Territory	Japan
City	Yokohama
Period	14/3/14 → 14/3/16

Keywords

Bilateral control
Haptics
Master-slave robot system
Network

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/AMC.2014.6823299

Cite this

Kozuki, R., Ohno, Y., Suzuki, D., & Ohnishi, K. (2014). Band eliminate filter design for bilateral control system under time delay. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 302-307). Article 6823299 (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823299

Band eliminate filter design for bilateral control system under time delay. / Kozuki, Ryohei; Ohno, Yoshiki; Suzuki, Daiki et al.
2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 302-307 6823299 (International Workshop on Advanced Motion Control, AMC).

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

Kozuki, R, Ohno, Y, Suzuki, D & Ohnishi, K 2014, Band eliminate filter design for bilateral control system under time delay. in 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014., 6823299, International Workshop on Advanced Motion Control, AMC, Institute of Electrical and Electronics Engineers Inc., pp. 302-307, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823299

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abstract = "In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.",

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author = "Ryohei Kozuki and Yoshiki Ohno and Daiki Suzuki and Kouhei Ohnishi",

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AB - In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.

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KW - Network

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ER -

Band eliminate filter design for bilateral control system under time delay

Abstract

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Keywords

ASJC Scopus subject areas

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