TY - GEN
T1 - A structure of bilateral control system with time delay considering improvement of stability
AU - Hyodo, Shoyo
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Time delay in bilateral control system seriously deteriorates stability. Conventional acceleration based bilateral control method has stabilized position control. But, force control is not stabilized. This paper proposed a stability improved structure for bilateral control system. Position control and force control of proposed bilateral control system are stabilized. The validity of the proposed method is shown by numerical and experimental results.
AB - Time delay in bilateral control system seriously deteriorates stability. Conventional acceleration based bilateral control method has stabilized position control. But, force control is not stabilized. This paper proposed a stability improved structure for bilateral control system. Position control and force control of proposed bilateral control system are stabilized. The validity of the proposed method is shown by numerical and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84903157324&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903157324&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823296
DO - 10.1109/AMC.2014.6823296
M3 - Conference contribution
AN - SCOPUS:84903157324
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 284
EP - 289
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 -