An Allocation Method of High Pass Filter for Bilateral Teleoperation System Over Network Considering Stability and Performance

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: 2016/05/01

タイトル(英語): An Allocation Method of High Pass Filter for Bilateral Teleoperation System Over Network Considering Stability and Performance

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，network delay，stability，reproducibility，operationality

要約(英語): Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of the bilateral control system challengeable. This is because network delay seriously deteriorates the performance and could make the system unstable. The authors' previous research proposed a compensator to stabilize the against network delay and a control system to attain reproducibility. However, operationality is remained as a problem. In this paper, to attain almost same performance as the system without time delay, allocations of high pass filter are studied. High pass filter is implemented to remove the undesirable operational force in low frequency area. By allocating high pass filter correctly, operationality is improved while maintaining stability and reproducibility. The validity is confirmed by numerical analysis and experimental results.

本誌: IEEJ Journal of Industry Applications Vol.5 No.3 （2016）

本誌掲載ページ: 199-205 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/5/3/5_199/_article/-char/ja/