A Structural Approach to Improve the Stability of Bilateral Control System with Time Delay

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2015/09/01

タイトル(英語): A Structural Approach to Improve the Stability of Bilateral Control System with Time Delay

著者名: Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

著者名(英語): Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: bilateral control，time-delay，modal space，stability

要約(英語): Bilateral control is one of the control methods of teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. Because, it seriously deteriorates the performance and possibly makes the system unstable. The communication disturbance observer (CDOB) has been proposed to compensate time delay effect without a time delay model. The effectiveness of CDOB with acceleration based four-channel bilateral control system has been confirmed experimentally so far. The acceleration based four-channel bilateral control system utilizes the information of the master/slave position and force. Position and force control are realized in two decomposed virtual modal spaces, i.e. differential mode and common mode. In the acceleration based four-channel bilateral control system with CDOB, position control is stable, but force control is not stable. Thus, the control system is stable during free motion, but the system can be destabilized when the slave robot contacts with the environment. In this paper, a structural approach is applied to improve the stability of force control of bilateral control system. The proposed structure is derived from modal space analysis in differential mode and common mode. By using the proposed structure, position control and force control of the bilateral control system are stabilized. The validity is confirmed by experimental results in the case of constant delay and time varying delay.

本誌: IEEJ Journal of Industry Applications Vol.4 No.5 （2015）

本誌掲載ページ: 526-534 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/4/5/4_526/_article/-char/ja/