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 (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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