TY - GEN
T1 - Realization of simultaneity in bilateral teleoperation system under time delay
AU - Nishimura, Satoshi
AU - Katsura, Seiichiro
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other, time delay is included inside the control system. The time delay impedes the momentary realization of control goals, consequently destabilizing the whole control system and degrading the force sensation. Therefore this paper proposes a control system that realizes position synchronization in bilateral control under communication delay. One of the control goal is realized regardless of the time delay by using the proposed method. The phase lag compensator is used for stabilizing the control system. The physical meaning of the phase compensator is disclosed in the paper. Experiments were conducted to verify the validity of the proposed method.
AB - Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other, time delay is included inside the control system. The time delay impedes the momentary realization of control goals, consequently destabilizing the whole control system and degrading the force sensation. Therefore this paper proposes a control system that realizes position synchronization in bilateral control under communication delay. One of the control goal is realized regardless of the time delay by using the proposed method. The phase lag compensator is used for stabilizing the control system. The physical meaning of the phase compensator is disclosed in the paper. Experiments were conducted to verify the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84903199445&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903199445&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823378
DO - 10.1109/AMC.2014.6823378
M3 - Conference contribution
AN - SCOPUS:84903199445
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 770
EP - 775
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -