A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space

IEEE International Symposium on Industrial Electronics

Volumn , Issue , 2010, Pages 1779-1783

  Suzuki, Atsushi ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

Acceleration control; Common modal space; Disturbance observer; Time delay; Velocity damping

Indexed keywords

BILATERAL CONTROL SYSTEMS; BILATERAL TELEOPERATION; COMMON MODAL SPACE; DISTURBANCE OBSERVER; HIGHER FREQUENCIES; HUMAN MOTIONS; OPERATIONALITY; STABILITY ANALYSIS; VELOCITY DAMPING;

ACCELERATION CONTROL; DAMPING; DELAY CIRCUITS; FORCE CONTROL; INDUSTRIAL ELECTRONICS; OBSERVABILITY; REMOTE CONTROL; TIME DELAY;

DELAY CONTROL SYSTEMS;

EID: 78650398567     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISIE.2010.5637596     Document Type: Conference Paper

References (17)

1. P. F. Hokayem and M. W. Spong, "Bilateral Teleoperation: An History Survey," Automatica, Vol. 42, No. 12, pp. 2035-2057, 2006.
2. Y. Yokokohji and T. Yoshikawa, "Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling - Formulation and Experiment," IEEE Trans. on Robotics and Automation, Vol. 10, No. 5, pp. 605-620, 1994.
3. B. Hannaford, "A Design Framework for Teleoperators with Kinesthetic Feedback," IEEE Trans. on Robotics and Automation, Vol. 5, No. 4, pp. 426-434, 1989.
4. D. A. Lawrence, "Stability and Transparency in Bilateral Teleoperation," IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, 1993.
5. K. Hashtrudi-Zaad and S. E. Salcudean, "Transparency in Time-Delayed Systems and the Effect of Local Force Feedback for Transparent Teleoperation," IEEE Transactions on Robotics and Automation, Vol. 18, No. 1, pp. 108-114, 2002.
6. W. Iida and K. Ohnishi, "Reproductbility and Operationality in Bilateral Teleoperation," Proceedings of the 8th IEEE international Workshop on Advanced Motion Control, AMC 2004, Kawasaki, Japan, 25-28th, March, 2004.
7. R. J. Anderson and M. W. Spong, "Bilateral Control of Teleoperators with Time Delay," IEEE Trans. on Automatic Control, Vol. 34, No. 5, pp. 494-501, 1989.
8. G. Niemeyer and J. J. E. Slotine, "Stable Adaptive Teleoperation," IEEEJ. of Oceanic Engineering, Vol. 16, no. 1, pp. 152-162, 1991.
9. G. Niemeyer and J. J. E. Slotine, "Towards Force-Reflecting Tele-operation Over the Internet," Proceedings of the 1998 International Conference on Robotics and Automation, Leuven, Belgium, vol. 3, pp. 1909-1915, May 1998.
10. Y. Yokokohji, T. Imaida and T. Yoshikawa, "Bilateral Teleoperation under Time-Varying Communication Delay," Proceedings of the 1999 IEEE/RSJ international Conference on Intelligent Robots and Systems, IROS'99, Kyongju, Korea, vol. 3, pp. 1854-1859, October 1999.
11. S. Munir and W. J. Book, "Internet-Based Teleoperation Using Wave Variables with Prediction," IEEE/ASME Trans. on Robotics and Automation, Vol. 7, No. 2, pp. 124-133, 2002.
12. G. M. H. Leung, B. A. Francis and J. Apkarian "Bilateral Controller for Teleoperators with Time Delay via μ-Synthesis," IEEE Trans. on Robotics and Automation, Vol. 11, No. 1, pp. 105-116, 1995.
13. A. Sano, H. Fujimoto and T. Takai, "Network-Based Force-Reflecting Teleoperation," Proceedings of the 2000 IEEE international Conference on Robotics and Automation, San Francisco, CA, vol. 4, pp. 3126-3131, April 2000.
14. R. Kubo, N. Iiyama, and K. Ohnishi, "Analysis of a Three Channel Control Architecture for Bilateral Teleoperation with Time Delay" IEEJ Trans. on Industry Application, Vol. 127-D, No. 12, pp. 1224-1230(2007).
15. O. Khatib, and J. Burdick "Motion and Force Control of Robot Manipulation," IEEE Int. Conf. on Robotics and Automation, Vol. 3, pp. 1381-1386(1986)
16. K. Ohnishi, M. Shibata and T. Murakami, "Motion Control for Advanced Mechatronics," IEEE/ASME Transactions on Mechatronics, Vol. 1, No. 1, pp. 56-67, 1996.
17. T. Murakami, F. Yu and K. Ohnishi, "Torque Sensorless Control in Multidegree-of-Freedom Manipulator," IEEE Transaction on Industrial Electronics, Vol. 40, No. 2, pp. 259-265, 1993.