A Formulization of Remote Robot System by Using Difference Differential Equation

Abstract

Destabilizations are pointed out in the remote robot systems with haptics under the condition of telecommunication delay and the countermeasure for mitigating these phenomenon by using viscosity have been proposed. But the mechanism is not clarified sufficiently. This paper proposes a formulization of analysis of the stability of the systems by using the difference differential equations. From this formulization, the stability condition of a certain case is obtained and one of elucidation of the effect of viscosity has been proposed. Moreover, an example that the characteristics' of operator influences the stability and the mitigation method has been investigated.