Title :
Band eliminate filter design for bilateral control system under time delay
Author :
Kozuki, Ryohei ; Ohno, Y. ; Suzuki, Daisuke ; Ohnishi, Kengo
Author_Institution :
Grad. Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan
Abstract :
In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.
Keywords :
delays; filtering theory; force control; position control; telerobotics; 4ch ABC; BEF; band eliminate filter design; bilateral control system; force control; four-channel acceleration-based bilateral control; gain characteristics; master robot; phase characteristics; phase delay; position control; precedence research; slave robot; time delay; Acceleration; Control systems; Force; Time-frequency analysis; bilateral control; haptics; master-slave robot system; network;
Conference_Titel :
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location :
Yokohama
DOI :
10.1109/AMC.2014.6823299
