| Presentation | 2015-03-02 A Design Method of Bilateral Control System with Time Delay Based on Data-Driven Control Daisuke YASHIRO, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Although a bilateral control which utilizes a master robot and a slave robot has been attracted attention in the field of teleoperation, the delay problem has not.been solved yet. The delay problem means that a communication delay between the master robot and the slave robot destabilizes bilateral control systems. Accordingly, a data-driven controller that dynamically determines the master's controller gain depending on a stiffness and a position of an contact object is designed. An algorithm which quickly estimates the stiffness is proposed, and simulations and experiments show that stable motions are achieved. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | bilateral control / teleoperation / haptics / delay / disturbance observer / data-driven control |
| Paper # | HIP2014-79 |
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| Conference Information | |
| Committee | HIP |
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| Conference Date | 2015/2/23(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Human Information Processing (HIP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A Design Method of Bilateral Control System with Time Delay Based on Data-Driven Control |
| Sub Title (in English) | |
| Keyword(1) | bilateral control |
| Keyword(2) | teleoperation |
| Keyword(3) | haptics |
| Keyword(4) | delay |
| Keyword(5) | disturbance observer |
| Keyword(6) | data-driven control |
| 1st Author's Name | Daisuke YASHIRO |
| 1st Author's Affiliation | Faculty of Engineering, Mie University() |
| Date | 2015-03-02 |
| Paper # | HIP2014-79 |
| Volume (vol) | vol.114 |
| Number (no) | 483 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |