An analysis and design of velocity feedback in time-delayed teleoperation system

Nobuto Yoshimura, Yoshiki Ohno, Kouhei Ohnishi

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages556-561
Number of pages6
ISBN (Print)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

Fingerprint

Remote control
Time delay
Feedback
Damping
Frequency stability
Robotics
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Yoshimura, N., Ohno, Y., & Ohnishi, K. (2015). An analysis and design of velocity feedback in time-delayed teleoperation system. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 556-561). [7084037] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084037

An analysis and design of velocity feedback in time-delayed teleoperation system. / Yoshimura, Nobuto; Ohno, Yoshiki; Ohnishi, Kouhei.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 556-561 7084037.

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

Yoshimura, N, Ohno, Y & Ohnishi, K 2015, An analysis and design of velocity feedback in time-delayed teleoperation system. in Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084037, Institute of Electrical and Electronics Engineers Inc., pp. 556-561, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084037
Yoshimura N, Ohno Y, Ohnishi K. An analysis and design of velocity feedback in time-delayed teleoperation system. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 556-561. 7084037 https://doi.org/10.1109/ICMECH.2015.7084037
Yoshimura, Nobuto ; Ohno, Yoshiki ; Ohnishi, Kouhei. / An analysis and design of velocity feedback in time-delayed teleoperation system. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 556-561
@inproceedings{7cf8df63211c4fe38cda94224f2e6bb1,
title = "An analysis and design of velocity feedback in time-delayed teleoperation system",
abstract = "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.",
author = "Nobuto Yoshimura and Yoshiki Ohno and Kouhei Ohnishi",
year = "2015",
month = "4",
day = "9",
doi = "10.1109/ICMECH.2015.7084037",
language = "English",
isbn = "9781479936335",
pages = "556--561",
booktitle = "Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - An analysis and design of velocity feedback in time-delayed teleoperation system

AU - Yoshimura, Nobuto

AU - Ohno, Yoshiki

AU - Ohnishi, Kouhei

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

UR - http://www.scopus.com/inward/citedby.url?scp=84929359293&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2015.7084037

DO - 10.1109/ICMECH.2015.7084037

M3 - Conference contribution

AN - SCOPUS:84929359293

SN - 9781479936335

SP - 556

EP - 561

BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -