Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Results on the Energy-bounding Approach to Robustly Stable Rate-mode Bilateral Teleoperation Systems

속도 모드 양방향 원격 제어의 안정화 에너지 제한 방법의 실험 결과

  • 박성준 (광주과학기술원 기전공학과) ;
  • 서창훈 (광주과학기술원 기전공학과) ;
  • 류제하 (광주과학기술원 기전공학과)
  • Received : 2011.02.20
  • Accepted : 2011.03.29
  • Published : 2011.06.01
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Abstract

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.

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References

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