Method of Time-Delay Compensation in Multi-Degree-of-Freedom Bilateral Control Systems with Different Configurations

Abstract

In this paper, a time-delay compensation method based on work space communication disturbance observer (WCDOB) is proposed. Time delay degrades the stability of a control system. Communication disturbance observer (CDOB) has been proposed to solve this problem. However, CDOB cannot compensate for time delay in multi-degree-of-freedom bilateral control systems with different configurations, because the inertia of the robots is not fixed. In contrast, WCDOB can estimate the time delay based on work space information and compensate for them. The experimental results confirm the validity of the proposed method.