Synchronized control for teleoperation with different configurations and communication delay

Hisanosuke Kawada; Kouei Yoshida; Toru Namerikawa

doi:10.1109/CDC.2007.4434270

Synchronized control for teleoperation with different configurations and communication delay

Hisanosuke Kawada, Kouei Yoshida, Toru Namerikawa

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

30 Citations (Scopus)

Abstract

This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.

Original language	English
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2546-2551
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434270
Publication status	Published - 2007
Externally published	Yes
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: 2007 Dec 12 → 2007 Dec 14

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	07/12/12 → 07/12/14

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2007.4434270

Cite this

Kawada, H., Yoshida, K., & Namerikawa, T. (2007). Synchronized control for teleoperation with different configurations and communication delay. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 2546-2551). Article 4434270 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434270

Synchronized control for teleoperation with different configurations and communication delay. / Kawada, Hisanosuke; Yoshida, Kouei; Namerikawa, Toru.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 2546-2551 4434270 (Proceedings of the IEEE Conference on Decision and Control).

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

Kawada, H, Yoshida, K & Namerikawa, T 2007, Synchronized control for teleoperation with different configurations and communication delay. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434270, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2546-2551, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 07/12/12. https://doi.org/10.1109/CDC.2007.4434270

Kawada H, Yoshida K, Namerikawa T. Synchronized control for teleoperation with different configurations and communication delay. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc. 2007. p. 2546-2551. 4434270. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2007.4434270

@inproceedings{4e9cabf02742451baa94712b42f78fdd,

title = "Synchronized control for teleoperation with different configurations and communication delay",

abstract = "This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.",

author = "Hisanosuke Kawada and Kouei Yoshida and Toru Namerikawa",

year = "2007",

doi = "10.1109/CDC.2007.4434270",

language = "English",

isbn = "1424414989",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2546--2551",

booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",

note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",

}

TY - GEN

T1 - Synchronized control for teleoperation with different configurations and communication delay

AU - Kawada, Hisanosuke

AU - Yoshida, Kouei

AU - Namerikawa, Toru

PY - 2007

Y1 - 2007

N2 - This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.

AB - This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method.

UR - http://www.scopus.com/inward/record.url?scp=52449123790&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=52449123790&partnerID=8YFLogxK

U2 - 10.1109/CDC.2007.4434270

DO - 10.1109/CDC.2007.4434270

M3 - Conference contribution

AN - SCOPUS:52449123790

SN - 1424414989

SN - 9781424414987

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2546

EP - 2551

BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 46th IEEE Conference on Decision and Control 2007, CDC

Y2 - 12 December 2007 through 14 December 2007

ER -

Synchronized control for teleoperation with different configurations and communication delay

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this