A Design Scheme of Bilateral Teleoperation of Constrained System with Time Delay

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  • Kawai Yasunori
    Department of Electrical Engineering, Ishikawa National College of Technology
  • Fujita Masayuki
    Department of Mechanical and Control Engineering, Tokyo Institute of Technology

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Other Title
  • 拘束を考慮した時間遅れを有するバイラテラル遠隔操作システムの一構成法
  • コウソク オ コウリョ シタ ジカン オクレ オ ユウスル バイラテラル エンカク ソウサ システム ノ イチ コウセイホウ

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This paper proposes a design scheme of bilateral teleoperation of the constrained system with time delay. The stability of bilateral teleoperation with PD control is proved by the proposed Lyapunov function. For the bilateral teleoperation with constraints, a command governor is provided using the model prediction. By using the command governor, the bilateral teleoperation can avoid constraints violations. In the command governor, the proposed algorithm can decrease the computational cost in comparison with the quadratic programming. In the simulation and experiment, the performance of the proposed bilateral teleoperation system is verified using a single-degree of freedom master/slave system.

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