A Controller Design Method of Bilateral Teleoperation for Velocity Control Driver

Yuki Saito, Shuhei Shimmyo, Takahiro Nozaki, Kouhei Ohnishi

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

Abstract

Bilateral control can realize haptic feedback required for securing safety and diversity in teleoperation by robots. Since conventional approaches are based on a servo controller which has high-performance current control or torque control, there is a barrier for advancing into society. The objective of this paper is to propose a design method of the bilateral controller using velocity control driver to achieve haptic feedback. The velocity control driver such as an inverter is widely used in the industrial fields. In the proposed method, a reaction force observer modified for velocity control driver is used to estimate environmental reaction force. The control system is constructed by applying the concept of hybrid control which controls velocity and force independently, and the concept of modal space which separates motions into functions is also applied. Furthermore, the proposed bilateral controller is designed based on the ideal conditions of operationality and reproducibility. The validity of the proposal is verified through a simulation and an experiment. The obtained results show that the proposed controller successfully achieves the teleoperation with haptic feedback using velocity control driver.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages3585-3590
Number of pages6
ISBN (Electronic)9781728148786
DOIs
Publication statusPublished - 2019 Oct
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: 2019 Oct 142019 Oct 17

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
CountryPortugal
CityLisbon
Period19/10/1419/10/17

Keywords

  • bilateral control
  • hybrid parameter
  • reaction force observer
  • teleoperation
  • velocity controller

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A Controller Design Method of Bilateral Teleoperation for Velocity Control Driver'. Together they form a unique fingerprint.

  • Cite this

    Saito, Y., Shimmyo, S., Nozaki, T., & Ohnishi, K. (2019). A Controller Design Method of Bilateral Teleoperation for Velocity Control Driver. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 3585-3590). [8926974] (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8926974