Band eliminate filter design for bilateral control system under time delay

Author

Kozuki, Ryohei ; Ohno, Y. ; Suzuki, Daisuke ; Ohnishi, Kengo

Author_Institution

Grad. Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan

fYear

2014

fDate

14-16 March 2014

Firstpage

302

Lastpage

307

Abstract

In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.

Keywords

delays; filtering theory; force control; position control; telerobotics; 4ch ABC; BEF; band eliminate filter design; bilateral control system; force control; four-channel acceleration-based bilateral control; gain characteristics; master robot; phase characteristics; phase delay; position control; precedence research; slave robot; time delay; Acceleration; Control systems; Force; Time-frequency analysis; bilateral control; haptics; master-slave robot system; network;

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.2014.6823299

Filename

6823299