Abstract
Position error between master and slave occurs in bilateral control system under time delay and it is undesirable for delicate works. To solve this problem, this paper proposes a compensation method of position error in bilateral control under time delay. Firstly, the cause of position error is expressed. After that, it is shown that 3-channel bilateral control system, which is the conventional method, compensates position error. However, 3-channel bilateral control system is known to be unstable in contact motion. In 3-channel bilateral control system, a compensation term is added in master. In contrast, in the proposed method, a compensation term is added in slave. Moreover, stable contact motion and compensation of position error are realized. The validity of the proposed method is verified through experiments.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
