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Bilateral teleoperation is one of the promising technologies and enables us to work in the distance. However, the time delay in network seriously deteriorates the performance and possibly makes the system unstable. The authors previously proposed architectures with high transparency for delayed bilateral teleoperation system, which are the P-F architecture and the F-P architecture. However, these...
This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore,...
In this paper, the four-channel acceleration based control with communication disturbance observer and band eliminate filter is proposed. In previous research, authors proposed 4ch ABC with BEE In this method, BEF is set on position response of slave, and this method suppresses an oscillation of position response. Therefore, position response is improved. However, this method makes the large operational...
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...
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