TY - GEN
T1 - Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem
AU - Do, Nam Duc
AU - Namerikawa, Toru
PY - 2009/12/1
Y1 - 2009/12/1
N2 - This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.
AB - This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.
KW - Bilateral teleoperation
KW - Communication delays
KW - Force-reflection
KW - Impedance control
KW - Input-to-state stable
UR - http://www.scopus.com/inward/record.url?scp=77951118639&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951118639&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951118639
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 4079
EP - 4086
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -