TY - GEN
T1 - An analysis and design of velocity feedback in time-delayed teleoperation system
AU - Yoshimura, Nobuto
AU - Ohno, Yoshiki
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - In this paper, a design method of frequency-domain damping(FDD) to improve stability is proposed. In recent days, haptics is one of major topics in robotics field. Especially tele-operation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. To solve both problem of operational force and contact stability, FDD is proposed. Though FDD is designed to improve stability, conventional design has a possibility of destabilization. Furthermore, delay time model is needed to design filter and frequency of human motion should be known but these elements are nonlinear. This paper considers these problems and propose a design method of FDD. By using this design, problem of operational force, oscillating motion caused by time delay, and degrading of contact stability are improved. Validity of proposed method is confirmed by simulation study and experiment.
AB - In this paper, a design method of frequency-domain damping(FDD) to improve stability is proposed. In recent days, haptics is one of major topics in robotics field. Especially tele-operation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. To solve both problem of operational force and contact stability, FDD is proposed. Though FDD is designed to improve stability, conventional design has a possibility of destabilization. Furthermore, delay time model is needed to design filter and frequency of human motion should be known but these elements are nonlinear. This paper considers these problems and propose a design method of FDD. By using this design, problem of operational force, oscillating motion caused by time delay, and degrading of contact stability are improved. Validity of proposed method is confirmed by simulation study and experiment.
UR - http://www.scopus.com/inward/record.url?scp=84929359293&partnerID=8YFLogxK
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U2 - 10.1109/ICMECH.2015.7084037
DO - 10.1109/ICMECH.2015.7084037
M3 - Conference contribution
AN - SCOPUS:84929359293
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 556
EP - 561
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -