Automatically-Tuned Damping Injection for Stable Bilateral Control under Time Delay

Satoshi Hangai, Takahiro Nozaki

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

Abstract

Bilateral control is one of the methods to realize a teleoperation with force feedback. However, communication time delay seriously deteriorates operationality and stability of bilateral control. Although 3-channel bilateral control has been proposed to improve operationality, the system becomes unstable in contact motion. Damping injection is an effective method to stabilize the contact motion by producing viscous force. However, this method produces large operational force and deteriorates operationality. Many researchers tried to inject damping without deteriorating operationality. However, their methods are affected by several situations/factors such as delay time or operator's motion speed. As a result, their methods require a redesigning procedure in order to deal with such situations/factors. In this paper, automatically-tuned damping injection is proposed to stabilize the contact motion in 3-channel bilateral control. In the proposed method, damping gain is automatically determined by monitoring the Lyapunov stability of the force control. The effectiveness of the proposed method is verified by experiments.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages667-672
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 2019 Mar 182019 Mar 20

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period19/3/1819/3/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

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  • Cite this

    Hangai, S., & Nozaki, T. (2019). Automatically-Tuned Damping Injection for Stable Bilateral Control under Time Delay. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 667-672). [8722879] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722879