Band eliminate filter design for bilateral control system under time delay

Band eliminate filter design for bilateral control system under time delay

In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time...

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Bibliographic Details
Published in:2014 IEEE 13th International Workshop on Advanced Motion Control (AMC) pp. 302 - 307
Main Authors: Kozuki, Ryohei, Ohno, Yoshiki, Suzuki, Daiki, Ohnishi, Kouhei
Format: Conference Proceeding
Language:English
Published: IEEE 01-03-2014
Subjects:
Acceleration
bilateral control
Control systems
Force
haptics
master-slave robot system
network
Time-frequency analysis
Online Access:Get full text
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Summary:In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics of F parameter which indicates the relation between master and slave has been analyzed. Through the analysis, BEF is designed. The validity of proposed method is verified by experiments.
ISSN:1943-6572
1943-6580
DOI:10.1109/AMC.2014.6823299