TY - GEN
T1 - Time delay compensation for tendon-driven bilateral control using modal decomposition and communication disturbance observer
AU - Shimamoto, Keita
AU - Ohno, Yoshiki
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/9
Y1 - 2014/9/9
N2 - Master-slave robots with transmission of force sensation have gotten a lot of attention. 4ch-bilateral control realizes the transmission. Realizing lightweight multi-DOF robots for the system and compensating adverse effects based on communication delay are challenges for the system. For realizing lightweight multi-DOF robots, tendon-driven mechanisms are suitable as driven systems and driving systems can be separated. In order to compensate the adverse effects from communication delay, communication disturbance observer (CDOB) can be applied. CDOB requires slave system model. As it is difficult to make a model of force acting on slave system is difficult, CDOB is not appropriate for force control. However, tension control is based on force control. Therefore, in this paper, a time delay compensation method for bilateral control system with tendon-driven mechanisms is proposed. In this method, tension control and CDOB are constructed in different mode, which are independent of each other. The experimental results of the proposed method show the validity. Strings were strained with desired force by the tension control, and the adverse effects of communication disturbance was compensated by CDOB.
AB - Master-slave robots with transmission of force sensation have gotten a lot of attention. 4ch-bilateral control realizes the transmission. Realizing lightweight multi-DOF robots for the system and compensating adverse effects based on communication delay are challenges for the system. For realizing lightweight multi-DOF robots, tendon-driven mechanisms are suitable as driven systems and driving systems can be separated. In order to compensate the adverse effects from communication delay, communication disturbance observer (CDOB) can be applied. CDOB requires slave system model. As it is difficult to make a model of force acting on slave system is difficult, CDOB is not appropriate for force control. However, tension control is based on force control. Therefore, in this paper, a time delay compensation method for bilateral control system with tendon-driven mechanisms is proposed. In this method, tension control and CDOB are constructed in different mode, which are independent of each other. The experimental results of the proposed method show the validity. Strings were strained with desired force by the tension control, and the adverse effects of communication disturbance was compensated by CDOB.
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U2 - 10.1109/ICIT.2014.6894967
DO - 10.1109/ICIT.2014.6894967
M3 - Conference contribution
AN - SCOPUS:84907798048
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 29
EP - 34
BT - Proceedings of the IEEE International Conference on Industrial Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Industrial Technology, ICIT 2014
Y2 - 26 February 2014 through 1 March 2014
ER -