TY - GEN
T1 - Circle theorem-based realization of nonlinear force control for teleoperation under time delay
AU - Morimitsu, Hidetaka
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - The communication delay is one of the major problems existing in the bilateral teleoperation system since it largely degrades the performance. This study treats the acceleration-based bilateral control (ABC) as a basic controller. According to the analyses, it is shown that a trade-off between the operationality and the reproduction performance of the kinesthetic contact exists in designing the ABC under time delay. For addressing this, adjustment of the force control gain according to the situations of the bilateral control is proposed. For ensuring the stability of the system with the nonlinear controller, circle theorem is applied to the proposed system. Experimental results show that the proposed system can realize stable operation as well as the improved performance over the bilateral control system with constant gain.
AB - The communication delay is one of the major problems existing in the bilateral teleoperation system since it largely degrades the performance. This study treats the acceleration-based bilateral control (ABC) as a basic controller. According to the analyses, it is shown that a trade-off between the operationality and the reproduction performance of the kinesthetic contact exists in designing the ABC under time delay. For addressing this, adjustment of the force control gain according to the situations of the bilateral control is proposed. For ensuring the stability of the system with the nonlinear controller, circle theorem is applied to the proposed system. Experimental results show that the proposed system can realize stable operation as well as the improved performance over the bilateral control system with constant gain.
UR - http://www.scopus.com/inward/record.url?scp=84929346967&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929346967&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7084038
DO - 10.1109/ICMECH.2015.7084038
M3 - Conference contribution
AN - SCOPUS:84929346967
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 562
EP - 567
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -