Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2016/11/01タイトル(英語): Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay著者名: Daisuke Yashiro (D epartment of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Satoshi Komada (De著者名(英語): Daisuke Yashiro (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University)キーワード: bilateral control，communication delay，disturbance observer，adaptive identification，motion control，haptics要約(英語): Communication delay between a master and a slave robot destabilizes a bilateral control system. Recent researches showed that an adaptive controller that dynamically determines the master's controller gain according to the stiffness of the contact object is effective in improving stability. As the stability depends on the convergence speed of the estimated stiffness, this paper proposes an algorithm that quickly estimates the stiffness. A polynomial interpolation and a Schmitt trigger are utilized for the estimation. The validity of the algorithm is verified by simulations and experiments. The convergence speed of the position and the force is improved by the proposed algorithm.本誌: IEEJ Journal of Industry Applications Vol.5 No.6 （2016）本誌掲載ページ: 422-428 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/5/6/5_422/_article/-char/ja/ Show more