Title :
A Bilateral Compliance Control for Time Delayed Systems
Author :
Ahn, Sung Ho ; Lee, Kye Hong ; Kim, Young Ki ; Kim, Hark Rho
Author_Institution :
Dev. of Syst. for Cold Neutron Source, Korea Atomic Energy Res. Inst., Daejeon
Abstract :
When the bilateral control system has a time delay between the slave system and the control system, the compliance control performance is likely to be deteriorated. This paper proposed a bilateral compliance control scheme and a controller design method for the bilateral control systems with a time delay. The slave controller has a modified type of Smith predictor for the time delay in each input and output stage of an open loop unstable plant. The compliance controller is implemented by a first order low pass filter and it modifies the position of the master to the reference position. The simulation results show that the excellence of the proposed scheme
Keywords :
compliance control; control system synthesis; delays; force control; open loop systems; telerobotics; bilateral compliance control; controller design method; slave system; time delay system; Control systems; Delay effects; Delay systems; Design methodology; Force control; Force measurement; Force sensors; Low pass filters; Master-slave; Open loop systems; Bilateral control; compliance control; force reflecting control; time delay;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314709
