Analysis and compensation of operational force in bilateral control systems under time-varying delay

Yoshiki Ohno, Nobuto Yoshimura, Kouhei Ohnishi

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

Abstract

This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore, if the time delay is time-varying, operator feels uncomfortable scratchy sensation in addition to the operational force. Therefore, this paper proposes a method to compensate the effect of time-varying delay in 4-channel bilateral control systems. First, it is cleared that the scratchy feeling can be regarded as high frequency communicative operational force and that it can be calculated in real time quantitatively. Then, elimination method for the scratchy feeling is proposed from the view of operational force. Proposed method can compensate only the effect of delay variation without any delay time model. The validities of proposed methods are verified by some experiments.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages132-137
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

Keywords

  • bilateral control
  • haptics
  • network
  • operational force
  • operationality
  • time delay compensation
  • time-varying delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Ohno, Y., Yoshimura, N., & Ohnishi, K. (2015). Analysis and compensation of operational force in bilateral control systems under time-varying delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 132-137). [7083961] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7083961