An Investigation of the Stabilization of Bilateral Robot Systems under Communication Delay

Abstract

Destabilizations caused by communication delay are pointed out in remote robot systems with bilateral control. Some countermeasures have been proposed to mitigate the destabilizations. Introducing resistance is one of the countermeasures, but the excessive resistance brings the dull control. Therefore, to clarify the mechanism and condition of stabilization is important. The authors have investigated this problem by using deference differential equations. This paper develops the investigations and tries to give a theoretical basement of the stabilization method by using resistance. Moreover, the examination of actual data is done for verifying these analyses.