Bilateral Robot System on the Real-Time Network Structure

Uchimura, Yutaka; Yakoh, Takahiro

doi:10.1109/tie.2004.834942

Cited by 63 publications

(13 citation statements)

References 6 publications

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“…As in electrical system, active power in mechanical system is the amount of power used in the work. Therefore, active power in mechanical system is calculated by (8) and (9).…”

Section: Power Factor In Mechanical Systemmentioning

confidence: 99%

Elimination of reactive operational force in bilateral control system under time delay

Kozuki

Ogawa

Ohnishi

2015

2015 IEEE International Conference on Mechatronics (ICM)

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In this paper, the method which eliminates the reactive operational force in bilateral control system under time delay is proposed. In bilateral control system under time delay, an operator feels large operational force. In addition to that, amplitude of response increases and it makes system unstable. In this paper, the proposed method eliminates this increasing. Therefore, operationality in free motion is improved. To solve this problem, reactive operational force is introduced which is calculated by using power factor in mechanical system. Power factor in mechanical system is derived from power factor in electrical system. Then, the concept of power factor is explained. In this research, only free motion is considered. Then, contact motion should be considered in future work. The performances of the previous method and the proposed method are evaluated through experiments.

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“…As in electrical system, active power in mechanical system is the amount of power used in the work. Therefore, active power in mechanical system is calculated by (8) and (9).…”

Section: Power Factor In Mechanical Systemmentioning

confidence: 99%

Elimination of reactive operational force in bilateral control system under time delay

Kozuki

Ogawa

Ohnishi

2015

2015 IEEE International Conference on Mechatronics (ICM)

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“…4ch ABC under time delay has been widely researched [7], [8]. Natori proposed a compensation method of communication disturbance observer(CDOB) [9].…”

Section: Introductionmentioning

confidence: 99%

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

Kozuki

Ohnishi

2014

IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society

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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

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“…Much research and development is also being conducted in application level, such as tele-surgery [2], tele-operated rescue robots [3], and bilateral control with force feedback via a network [4]. These applications commonly include sensors, actuators and controllers that are mutually connected and exchange information via a network.…”

Section: Introductionmentioning

confidence: 99%

Model based μ-synthesis control for time-varying network based system

Uchimura

Nagahara

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

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This paper proposes a model based controller design by exploiting μ-synthesis for a network based system with time varying delay and the plant model uncertainty. Much research has investigated network system with time delay and both frequency-domain based and time domain based approaches have been proposed. In this paper, we firstly review the study on conservativeness of existing approaches for time delay systems, then deduce that μ based controller is less conservative than other methods. To improve performance of the system, we proposes a model based control method with μ-synthesis. In the model based control, the modeling error between a plant model and a real plant can affect the performance and stability of the system. A μ-synthesis based robust control also works to avoid the instability due to uncertainty. To evaluate the performance of the proposed system, we carried out simulations and experiments on a motor control system. From the results, we verified the stability and satisfactory performance of the system with the proposed methods.

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Bilateral Robot System on the Real-Time Network Structure

Cited by 63 publications

References 6 publications

Elimination of reactive operational force in bilateral control system under time delay

Elimination of reactive operational force in bilateral control system under time delay

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

Model based μ-synthesis control for time-varying network based system

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Bilateral Robot System on the Real-Time Network Structure

Cited by 63 publications

References 6 publications

Elimination of reactive operational force in bilateral control system under time delay

Elimination of reactive operational force in bilateral control system under time delay

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

Model based &#x03BC;-synthesis control for time-varying network based system

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Model based μ-synthesis control for time-varying network based system