Design of Adaptive Controller using Object Position for Bilateral Control System 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: 2020/03/01タイトル(英語): Design of Adaptive Controller using Object Position for Bilateral Control System with Communication Delay著者名: Daisuke Ya shiro (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 (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 control，motion control，haptics要約(英語): Communication delays between the master robot and slave robot could destabilize a bilateral control system. Recent researches have shown that an adaptive controller that dynamically determines the controller gain of the master depending on the stiffness of the contact object is effective in improving stability. However, the resulting delay in estimating the stiffness of the object degrades the performance and stability of the control system. This paper therefore proposes a novel adaptive controller that utilizes the position of the contact object. The validity of the proposed controller is demonstrated through frequency domain analysis as well as simulation and experimental results. These results indicate that the proposed controller suppresses overshoot, because the proposed controller changes the controller gain before the slave robot comes into contact with an object. In addition, the control system works well if the contact object moves during a contact motion.本誌: IEEJ Journal of Industry Applications Vol.9 No.2 （2020） Special Issue on “Motion Control and Its Related Technologies”本誌掲載ページ: 149-158 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/9/2/9_149/_article/-char/ja/ Show more