DocumentCode
2645230
Title
A study of bilateral teleoperation with time delay using command governor
Author
Kawai, Yasunori ; Fujita, Masayuki
Author_Institution
Ishikawa Nat. Coll. of Technol., Ishikawa
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
2990
Lastpage
2994
Abstract
This paper considers the bilateral teleoperation with time delay. The stability of the bilateral teleoperation is compensated by the local controllers. However, the constraints violation occurs in the implementation of the real system. In this paper, the command governor is applied to the bilateral teleoperation, which modifies the command to avoid constraint violations. In the simulation, the performance of the proposed bilateral teleoperation system is verified using a single-degree of freedom master/slave system.
Keywords
delays; predictive control; stability; telerobotics; bilateral teleoperation; command governor; constraint violation; dual robot system; master-slave system; predictive control; stability; time delay; Character generation; Control engineering; Control systems; Delay effects; Educational institutions; Humans; Master-slave; Robots; Stability; Velocity control; Constraint; Predictive Control; Teleoperation; Time Delay;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421503
Filename
4421503
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