TY - GEN
T1 - Bilateral teleoperation of multiple cooperative robots with time-varying delay
AU - Do, Nam Duc
AU - Yamashina, Yusuke
AU - Namerikawa, Toru
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.
AB - This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.
UR - http://www.scopus.com/inward/record.url?scp=78649421237&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2010.5611336
DO - 10.1109/CCA.2010.5611336
M3 - Conference contribution
AN - SCOPUS:78649421237
SN - 9781424453627
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 2053
EP - 2058
BT - 2010 IEEE International Conference on Control Applications, CCA 2010
T2 - 2010 IEEE International Conference on Control Applications, CCA 2010
Y2 - 8 September 2010 through 10 September 2010
ER -