TY - GEN
T1 - A design of four-channel bilateral control system under time delay based on hybrid parameters
AU - Morimitsu, Hidetaka
AU - Katsura, Seiichiro
PY - 2013/7/1
Y1 - 2013/7/1
N2 - This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.
AB - This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.
UR - http://www.scopus.com/inward/record.url?scp=84879361205&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879361205&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2013.6519156
DO - 10.1109/ICMECH.2013.6519156
M3 - Conference contribution
AN - SCOPUS:84879361205
SN - 9781467313889
T3 - 2013 IEEE International Conference on Mechatronics, ICM 2013
SP - 874
EP - 879
BT - 2013 IEEE International Conference on Mechatronics, ICM 2013
T2 - 2013 IEEE International Conference on Mechatronics, ICM 2013
Y2 - 27 February 2013 through 1 March 2013
ER -