TY - GEN
T1 - Time delay compensation for DOB-based contact force control under time delay
AU - Tashiro, Tetsuya
AU - Mizoguchi, Takahiro
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/5/6
Y1 - 2017/5/6
N2 - This paper proposes the time delay compensation for DOB-based contact force control under time delay. The proposed method is based on the concept of Network Disturbance. Firstly, this paper introduces the contact force control, and shows the simulation results. Then, the contact force control under time delay is introduced. The stability is discussed by the transfer function. Furthermore, the simulation and experimental results indicate the instability of the system. Finally, the time delay compensation method is proposed. To confirm the stability, the transfer function is derived for the proposed system. Furthermore, the simulation and experiment are conducted to show the validity of the proposed method. From the results, the performance of the time delay compensation is confirmed.
AB - This paper proposes the time delay compensation for DOB-based contact force control under time delay. The proposed method is based on the concept of Network Disturbance. Firstly, this paper introduces the contact force control, and shows the simulation results. Then, the contact force control under time delay is introduced. The stability is discussed by the transfer function. Furthermore, the simulation and experimental results indicate the instability of the system. Finally, the time delay compensation method is proposed. To confirm the stability, the transfer function is derived for the proposed system. Furthermore, the simulation and experiment are conducted to show the validity of the proposed method. From the results, the performance of the time delay compensation is confirmed.
UR - http://www.scopus.com/inward/record.url?scp=85020001402&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85020001402&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2017.7921106
DO - 10.1109/ICMECH.2017.7921106
M3 - Conference contribution
AN - SCOPUS:85020001402
T3 - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
SP - 214
EP - 219
BT - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Mechatronics, ICM 2017
Y2 - 13 February 2017 through 15 February 2017
ER -