Title :
A structure of bilateral control system with time delay considering improvement of stability
Author :
Hyodo, Shoyo ; Ohnishi, Kengo
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
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.
Keywords :
delays; force control; position control; stability; telerobotics; acceleration based bilateral control method; bilateral control system; force control; stability improved structure; stabilized position control; time delay; Frequency modulation; Manganese;
Conference_Titel :
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location :
Yokohama
DOI :
10.1109/AMC.2014.6823296
