Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

Yashiro, Daisuke; Ohnishi, Kouhei

doi:10.1109/tie.2010.2051937

Cited by 44 publications

(22 citation statements)

References 28 publications

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“…We show that the online tuning mechanisms for the NN weightsŴ i , i = 1, 2 result in stable tracking in master and slave robots. Define the weight estimation errors as (25) and (26) in (21) and (22), the closed-loop master and slave robot dynamics can be expressed as…”

Section: Neural Network Controller Designmentioning

confidence: 99%

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Adaptive neural network control of bilateral teleoperation with constant time delay

2011

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This paper proposes a novel approach for bilateral teleoperation systems with a multi degreesof-freedom (DOF) nonlinear robotic system on the master and slave side with constant time delay in a communication channel. We extend the passivity based architecture to improve position and force tracking and consequently transparency in the face of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficients. The proposed controller employs a stable neural network on each side to approximate unknown nonlinear functions in the robot dynamics, thereby overcoming some limitations of conventional controllers such as PD or adaptive controllers and guaranteeing good tracking performance. Moreover, we show that this new neural network controller preserves the control passivity of the system. Simulation results show that NN con-A. Forouzantabar ( ) troller tracking performance is superior to that of conventional controllers.

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Section: Neural Network Controller Designmentioning

confidence: 99%

“…Some researchers have used the network characteristics in the designing approach to improve transparency [20]. For instance, a multirate sampling method [21] and the relationship between transparency and packet sending period in bilateral control systems [22] have been introduced.…”

Section: Introductionmentioning

confidence: 99%

Adaptive neural network control of bilateral teleoperation with constant time delay

2011

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“…The motion-saving system is realized by bilateral control (6) (7) . A human operator manipulates the master device in order to assign tasks to the slave side.…”

Section: Motion-copying Systemmentioning

confidence: 99%

Motion-Copying System Using FPGA-based Friction-Free Disturbance Observer

2014

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A motion-copying system is characterized by its ability to preserve and reproduce the motions of a human operator. The performance of a motion-copying system based on bilateral control is affected by friction and harmonic disturbances. To improve the performance of this system, we propose a friction-free disturbance observer with a dither signal for both motion-saving and motion-loading systems. The dither signal reduces the effect of friction, while the friction-free disturbance observer suppresses oscillatory disturbances in force estimation. Moreover, the friction-free disturbance observer achieves effective harmonic disturbance suppression in force estimation. All control algorithms are implemented in a field-programmable gate array to achieve a short sampling period that reduces the controller execution time and enables a wider force-sensing bandwidth. The effectiveness of the proposed method is verified by experimental results.

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“…A four-channel (4ch) controller (7) and a three-channel (3ch) controller (8) have been proposed as fixed controller-based approaches. However, the performance of force control is low in the case of a 4ch controller, and the performance of position control is low in the case of a 3ch controller (9) . Recently, a method that modifies position controller gain adaptively has been researched as one of the adaptive controller-based approaches (10) .…”

Section: Introductionmentioning

confidence: 99%

Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay

2016

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Communication delay between a master and a slave robot destabilizes a bilateral control system. Recent researches showed that an adaptive controller that dynamically determines the master's controller gain according to the stiffness of the contact object is effective in improving stability. As the stability depends on the convergence speed of the estimated stiffness, this paper proposes an algorithm that quickly estimates the stiffness. A polynomial interpolation and a Schmitt trigger are utilized for the estimation. The validity of the algorithm is verified by simulations and experiments. The convergence speed of the position and the force is improved by the proposed algorithm.

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Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

Cited by 44 publications

References 28 publications

Adaptive neural network control of bilateral teleoperation with constant time delay

Adaptive neural network control of bilateral teleoperation with constant time delay

Motion-Copying System Using FPGA-based Friction-Free Disturbance Observer

Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay

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