Bilateral control system with CDOB and band eliminate filter under time delay

Abstract

In this paper, the four-channel acceleration based control with communication disturbance observer and band eliminate filter is proposed. In previous research, authors proposed 4ch ABC with BEF. In this method, BEF is set on position response of slave, and this method suppresses an oscillation of position response. Therefore, position response is improved. However, this method makes the large operational force, so it is necessary to improve operationality. In this paper, the method which combine previous method and communication disturbance observer(CDOB) which improve operationality is proposed. The performances of previous method and proposed method are evaluated through experiments.Index Terms-bilateral control haptics network masterslave robot system, time delay