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Performance Improvement of PD-Based Bilateral Teleoperator with Time Delay by Introducing High-Pass Filter

Published online by Cambridge University Press:  14 November 2019

Takashi Imaida Open the ORCID record for Takashi Imaida [Opens in a new window]  and
Kei Senda
Takashi Imaida*
Affiliation:
Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto 615-8540 Japan
Kei Senda
Affiliation:
Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto 615-8540 Japan
*
*Corresponding author. E-mail: t-imaida@mbox.kyoto-inet.or.jp
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Summary

Stability is a major problem with bilateral teleoperator when there is a transmission time delay. By adding adequate damping gain into position servo, a stable bilateral control can be achieved under the existence of time delay. However, large damping gain is required to stabilize the system and the performance is degraded. In this paper, the performance improvement by introducing a high-pass filter into a proportional derivative-based teleoperator with time delay has been studied. We proposed new control law and derived the stability condition. We demonstrated the performance improvement using a hybrid matrix, 1-degree of freedom (DOF), 2-DOF simulations, and 2-DOF peg-in-hole experiments.

Keywords

Bilateral controlPassivityTeleoperationTime delayHigh-pass filter
Type
Articles
Information
Robotica , Volume 38 , Issue 7 , July 2020 , pp. 1318 - 1342
Copyright
© Cambridge University Press 2019

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