抄録
In this paper, a time-delay compensation method based on a work space communication disturbance observer (WCDOB) is proposed. Time delay degrades the stability of a control system. A communication disturbance observer (CDOB) has been proposed to solve this problem. However, CDOB cannot compensate for time delay in multi-degree-of-freedom bilateral control systems with different configurations, because the inertia of the robots is not fixed. In contrast, WCDOB can estimate the time delay based on work space information and compensate for them. The experimental results confirm the validity of the proposed method.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 34-43 |
| ページ数 | 10 |
| ジャーナル | Electronics and Communications in Japan |
| 巻 | 98 |
| 号 | 7 |
| DOI | |
| 出版ステータス | Published - 2015 7月 1 |
ASJC Scopus subject areas
- 信号処理
- 物理学および天文学（全般）
- コンピュータ ネットワークおよび通信
- 電子工学および電気工学
- 応用数学