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タイトル: Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem
著者: Do, Nam Duc
Namerikawa, Toru link image
滑川, 徹
発行日: 2009年
出版社(者): IEEE = Institute of Electrical and Electronics Engineers
雑誌名: ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
号: 5334253
開始ページ: 4079
終了ページ: 4086
キーワード: Bilateral teleoperation
Communication delays
mpedance control
Input-to-state stable
抄録: This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm. © 2009 SICE..
URI: http://hdl.handle.net/2297/24275
資料種別: Conference Paper
版表示: publisher

このアイテムを引用あるいはリンクする場合は次の識別子を使用してください。 http://hdl.handle.net/2297/24275



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