Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter

In this paper, a PDS (Proportional-Derivative-Strain) based bilateral control system for flexible master-slave arms with random delay is discussed. The proposed PDS based bilateral control system consists of a rigid master and flexible slave arms. The flexible slave arm is actuated by a high-geared servomotor. Furthermore, the communication network which causes random delay connects both arms. The random delay is defined as the sum of the average time delay and a white Gaussian noise. A Kalman filter is designed to estimate the signals affected by the random delay. The controllers for the rigid master arm and the flexible slave arm are designed as the PD-and PDS-controllers, respectively. Numerical simulations are accomplished to confirm the performance of the proposed Kalman filter for the proposed PDS based bilateral control system.

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“…In this section, mathematical models of the proposed control system are derived to demonstrate numerical simulations [13].…”

Section: Mathematical Modelsmentioning

confidence: 99%

“…An ordinary time-invariant linear stochastic system with random delay is discussed for designing the Kalman filter [13].…”

Section: Synthesis Of Kalman Filtermentioning

confidence: 99%

PDS Based Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter

Yagi

Kimura

Sawada

2017

Transactions of ISCIE

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“…In Section 2.3, the linearized state space model of the nonlinear flexible slave arm is derived by means of the Taylor series expansion form. To do this procedure, the extended Kalman filter can be designed as same as the Kalman filter for reducing the effect of the random delay [12].…”

Section: Design Of Extended Kalman Filtermentioning

confidence: 99%

“…Furthermore, the bilateral control system affected by the random delay was also discussed. The novel Kalman filter was designed for the bilateral control system and its performance was verified by the numerical simulation [12]. In [12], the flexible arm was modeled as the linearized system and the Kalman filter was designed to estimate the state values of the linearized flexible arm.…”

Section: Introductionmentioning

confidence: 99%

“…The novel Kalman filter was designed for the bilateral control system and its performance was verified by the numerical simulation [12]. In [12], the flexible arm was modeled as the linearized system and the Kalman filter was designed to estimate the state values of the linearized flexible arm. In this paper, the mathematical model of the flexible arm is derived as the nonlinear system and the extended Kalman filter is designed to estimate the state values of this arm.…”

Section: Introductionmentioning

confidence: 99%

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Bilateral Control System of Nonlinear Flexible Master-Slave Arms with Random Delay Using Extended Kalman Filter

Yagi

Kimura

Sawada

2017

Stochastic Systems Theory and its Applications (SSS)

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Bilateral Control System of Flexible Master-Slave Arms with Random Delay Affected by Contact Force with Obstacle

Yagi¹,

Idei

Sawada

2018

Stochastic Systems Theory and its Applications (SSS)

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Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter

Cited by 3 publications

References 15 publications

PDS Based Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter

PDS Based Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter

Bilateral Control System of Nonlinear Flexible Master-Slave Arms with Random Delay Using Extended Kalman Filter

Bilateral Control System of Flexible Master-Slave Arms with Random Delay Affected by Contact Force with Obstacle

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