NDLI: Inverse scaled four channel control system with wave variables under time delay

Content Provider	IEEE Xplore Digital Library
Author	Yalcin, B. Ohnishi, K.
Copyright Year	2009
Description	Author affiliation: School of Integrated Design Engineering, Keio University, Hiyoshi, Yokohama 223-0061, Japan (Yalcin, B.; Ohnishi, K.)
Abstract	Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control systems. Performance improvement of time delayed control systems is carried out by introducing four channel control structure which transmits both of the position and force information to the master and slave robots by using wave variables. The bandwidth of environment perception is highly improved by wave variables data transmission and reaction force observer based sensorless force observation. Additionally, inverse scaling of control data in master and slave robots makes it possible to consider the drift problem which is caused by wave reflections, not only in damping terms but also in mass terms. In other words, acceleration dimension is directly introduced into the wave variables approach as well as the same dimension is used in overall control structure. Real time experiments are carried out to show the validity of our approach.
Starting Page	1
Ending Page	6
File Size	420431
Page Count	6
File Format	PDF
ISBN	9781424435067
DOI	10.1109/ICIT.2009.4939709
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Delay effects Sensorless control Force sensors Propagation delay Force control Master-slave Robot sensing systems Degradation System performance
Content Type	Text
Resource Type	Article

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