Transparency Analysis of a Force Sensorless Master-Slave Control by Force Feedback Based Virtual Impedance Controller with Time Delay
In this paper, an analysis of a master-slave control by force feedback based virtual impedance controller with time delay is conducted. Especially, the relationship between time delay and transparency is focused on. The proposed method consists of force feedback based virtual impedance controller of master manipulator and perfect tracking position controller of slave manipulator. From the controller analysis, it is confirmed that the relationship of Reproducibility and Operationality is simple in the proposed method and this makes clear parameter design of the controller as compared with conventional method. This is one of the remarkable points. Moreover, the proposed controller can be flexibly applied to many kinds of time-delayed teleoperation systems because models of a slave robot and communication time delay are not required. The validity of proposed controller is verified by some simulations.
Master-slave system Force feedback Virtual impedance control Time delay Reproducibility Operationality
Ryosuke Horie Kiyotoshi Komuta Toshiyuki Murakami
Department of System Design Engineering, Keio University, Yokohama, Japan
国际会议
天津
英文
681-695
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）