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Method of Time‐Delay Compensation in Multi‐Degree‐of‐Freedom Bilateral Control Systems with Different Configurations
Author(s) -
OHNO YOSHIKI,
SHIMAMOTO KEITA,
MIZOGUCHI TAKAHIRO,
OHNISHI KOUHEI
Publication year - 2015
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.11740
Subject(s) - control theory (sociology) , compensation (psychology) , observer (physics) , inertia , computer science , stability (learning theory) , control system , work (physics) , control (management) , engineering , artificial intelligence , psychology , physics , classical mechanics , quantum mechanics , machine learning , psychoanalysis , electrical engineering , mechanical engineering
SUMMARY In this paper, a time‐delay compensation method based on a work space communication disturbance observer (WCDOB) is proposed. Time delay degrades the stability of a control system. A communication disturbance observer (CDOB) has been proposed to solve this problem. However, CDOB cannot compensate for time delay in multi‐degree‐of‐freedom bilateral control systems with different configurations, because the inertia of the robots is not fixed. In contrast, WCDOB can estimate the time delay based on work space information and compensate for them. The experimental results confirm the validity of the proposed method.