DocumentCode
146342
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
fYear
2014
fDate
14-16 March 2014
Firstpage
284
Lastpage
289
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location
Yokohama
Type
conf
DOI
10.1109/AMC.2014.6823296
Filename
6823296
Link To Document