Host: The Institute of Systems, Control and Information Engineers
Name : 2022 International Symposium of Flexible Automation
Location : Hiyoshi Campus, Keio University, Yokohama, Japan
Date : July 03, 2022 - July 07, 2022
Pages 349-356
Bilateral control via the communication network is one of the effective methods to realize the teleoperation of robot systems. The general communication line such as the Internet system is with random transmission delay and data loss on the communication path. These communication failures cause instability of the control system for the bilateral robot system and make it difficult to accurately deliver the skills of the operator to remote locations. On the other hand, the flexible manipulator system is one of the lightweight manipulator systems. This paper deals with a bilateral control system for a flexible master-slave manipulator system via the communication network with transmission delay and data loss. The flexible manipulator and the rigid arm are used as the slave system the master system, respectively. The purpose of this research is to reduce the undesirable effect due to the transmission delay and data loss of the communication network with respect to the control system by introducing a switchable compensator. This compensator determines the presence of data loss and compensates the data loss using the corrective gain derived based on the data loss rate and the past data in the system was designed. Furthermore, in the numerical simulations, the effectiveness of the proposed system was demonstrated.
