Bilateral feedback control of telemanipulator via computer network in discrete time domain

Kazuhiro Kosuge, Hideyuki Murayama

Research output: Contribution to journalConference articlepeer-review

18 Citations (Scopus)

Abstract

In a traditional teleoperation system, the communication block has the same time delay in both directions between the master and the slave, but the communication time delay varies with direction in a computer network. We propose a control law in discrete time domain of the bilateral feedback teleoperation system using the computer network, and prove the stability of the system with scattering transformation in discrete time domain for the case where the communication time delay from the master to the slave is different from the time delay from the slave to the mater. We also consider a implementation issue for the case where the sampling rate of the communication block is lower than those of the master and the slave blocks. Finally, we illustrate the validity of the proposed system using a experimental master slave system with one DOF.

Original languageEnglish
Pages (from-to)2219-2224
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 1997 Jan 1
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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