TY - GEN
T1 - Design of force compensator with variable gain for bilateral control system under time delay
AU - Morimitsu, Hidetaka
AU - Katsura, Seiichiro
AU - Tomizuka, Masayoshi
PY - 2013
Y1 - 2013
N2 - This study deals with a bilateral control system under communication delay. Control structure is designed to be symmetric among master and slave devices in proposed system, in order to realize the same performance as much as possible even though master and slave side is replaced. Then, this research aims to improve the performance of position tracking in free motion and aims to ensure zero steady state errors of both position and force control in contact motion. The time delay is compensated at force controller section and its gain is varied according to the force responses of master and slave motors. By the proposed method, haptic communication with enhanced performance under communication delay is expected. The validity of proposal is shown by experimental results.
AB - This study deals with a bilateral control system under communication delay. Control structure is designed to be symmetric among master and slave devices in proposed system, in order to realize the same performance as much as possible even though master and slave side is replaced. Then, this research aims to improve the performance of position tracking in free motion and aims to ensure zero steady state errors of both position and force control in contact motion. The time delay is compensated at force controller section and its gain is varied according to the force responses of master and slave motors. By the proposed method, haptic communication with enhanced performance under communication delay is expected. The validity of proposal is shown by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84881647483&partnerID=8YFLogxK
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U2 - 10.1109/ISIE.2013.6563744
DO - 10.1109/ISIE.2013.6563744
M3 - Conference contribution
AN - SCOPUS:84881647483
SN - 9781467351942
T3 - IEEE International Symposium on Industrial Electronics
BT - 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
T2 - 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Y2 - 28 May 2013 through 31 May 2013
ER -