A bilateral teleoperation method using an autonomous control based on DFT modal decomposition

Keiichi Taguchi, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In these days, bilateral control is utilized for various scenes such as remote surgery, work in the space, nuclear plants, and so on. But in these cases, there is a dangerousness, for example a fragile organ. These environments are able to be broken or lost its plastic behavior with the excessive force. So there is a necessity to avoid this excessive force. This paper proposes a method of autonomous hazard avoidance control based on DFT modal decomposition. This control system consists of bilateral control based on acceleration control with disturbance observer and variable compliance control. During safe operation, bilateral control works and during dangerous operation, the control so as to avoid dangerous operation works. In order to decide the degree of operation risk in slave side, fuzzy algorithm based on the grasping force added to the environment is utilized. And in order to extract the grasping force, discrete fourier transform is utilized. If the operation is dangerous, operator feels the force to adjust excessive grasping force to the proper grasping force by the force filter. The validity of the proposed method is confirmed by the experimental results.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages2497-2502
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Remote control
Discrete Fourier transforms
Decomposition
Compliance control
Acceleration control
Surgery
Hazards
Plastics
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Taguchi, K., & Ohnishi, K. (2008). A bilateral teleoperation method using an autonomous control based on DFT modal decomposition. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2497-2502). [4758349] https://doi.org/10.1109/IECON.2008.4758349

A bilateral teleoperation method using an autonomous control based on DFT modal decomposition. / Taguchi, Keiichi; Ohnishi, Kouhei.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2497-2502 4758349.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Taguchi, K & Ohnishi, K 2008, A bilateral teleoperation method using an autonomous control based on DFT modal decomposition. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758349, pp. 2497-2502, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758349
Taguchi K, Ohnishi K. A bilateral teleoperation method using an autonomous control based on DFT modal decomposition. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2497-2502. 4758349 https://doi.org/10.1109/IECON.2008.4758349
Taguchi, Keiichi ; Ohnishi, Kouhei. / A bilateral teleoperation method using an autonomous control based on DFT modal decomposition. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 2497-2502
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