Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain

Shuhei Shimmyo; Yuki Saito; Takahiro Nozaki; Kouhei Ohnishi

doi:10.1109/IECON.2019.8926881

Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain

Shuhei Shimmyo, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Bilateral control is getting much attention as a key technology in teleoperation. A reproducibility is one of the performance indices of bilateral teleoperation, and four-channel acceleration-based bilateral control (4ch ABC) which has a high reproducibility with wide bandwidth enables operators to feel environmental impedance, clearly. Both position control and force control are required for the 4ch ABC, and a PD controller and a P controller are often utilized with a disturbance observer (DOB) and a reaction force observer (RFOB). This paper discusses how operators can feel environmental impedance with wide bandwidth in the 4ch ABC. A damping ratio of a PD controller has been, conventionally, set about 1 by imitating a traditional design principle of servo control. This paper theoretically reveals that a velocity feedback gain of a PD controller affects a bandwidth of reproducibility as a synergy with observer gains of a DOB, and a PD controller using a high velocity feedback gain is introduced. The validity of the theoretical analysis is confirmed by simulations and experimental results.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	3597-3602
Number of pages	6
ISBN (Electronic)	9781728148786
DOIs	https://doi.org/10.1109/IECON.2019.8926881
Publication status	Published - 2019 Oct
Externally published	Yes
Event	45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal Duration: 2019 Oct 14 → 2019 Oct 17

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2019-October

Conference

Conference	45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
Country/Territory	Portugal
City	Lisbon
Period	19/10/14 → 19/10/17

Keywords

bilateral control
damping ratio
haptics
reproducibility

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2019.8926881

Cite this

Shimmyo, S., Saito, Y., Nozaki, T., & Ohnishi, K. (2019). Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 3597-3602). [8926881] (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8926881

Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain. / Shimmyo, Shuhei; Saito, Yuki; Nozaki, Takahiro et al.
Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2019. p. 3597-3602 8926881 (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shimmyo, S, Saito, Y, Nozaki, T & Ohnishi, K 2019, Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain. in Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society., 8926881, IECON Proceedings (Industrial Electronics Conference), vol. 2019-October, IEEE Computer Society, pp. 3597-3602, 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019, Lisbon, Portugal, 19/10/14. https://doi.org/10.1109/IECON.2019.8926881

Shimmyo S, Saito Y, Nozaki T, Ohnishi K. Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society. 2019. p. 3597-3602. 8926881. (IECON Proceedings (Industrial Electronics Conference)). doi: 10.1109/IECON.2019.8926881

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abstract = "Bilateral control is getting much attention as a key technology in teleoperation. A reproducibility is one of the performance indices of bilateral teleoperation, and four-channel acceleration-based bilateral control (4ch ABC) which has a high reproducibility with wide bandwidth enables operators to feel environmental impedance, clearly. Both position control and force control are required for the 4ch ABC, and a PD controller and a P controller are often utilized with a disturbance observer (DOB) and a reaction force observer (RFOB). This paper discusses how operators can feel environmental impedance with wide bandwidth in the 4ch ABC. A damping ratio of a PD controller has been, conventionally, set about 1 by imitating a traditional design principle of servo control. This paper theoretically reveals that a velocity feedback gain of a PD controller affects a bandwidth of reproducibility as a synergy with observer gains of a DOB, and a PD controller using a high velocity feedback gain is introduced. The validity of the theoretical analysis is confirmed by simulations and experimental results.",

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author = "Shuhei Shimmyo and Yuki Saito and Takahiro Nozaki and Kouhei Ohnishi",

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AB - Bilateral control is getting much attention as a key technology in teleoperation. A reproducibility is one of the performance indices of bilateral teleoperation, and four-channel acceleration-based bilateral control (4ch ABC) which has a high reproducibility with wide bandwidth enables operators to feel environmental impedance, clearly. Both position control and force control are required for the 4ch ABC, and a PD controller and a P controller are often utilized with a disturbance observer (DOB) and a reaction force observer (RFOB). This paper discusses how operators can feel environmental impedance with wide bandwidth in the 4ch ABC. A damping ratio of a PD controller has been, conventionally, set about 1 by imitating a traditional design principle of servo control. This paper theoretically reveals that a velocity feedback gain of a PD controller affects a bandwidth of reproducibility as a synergy with observer gains of a DOB, and a PD controller using a high velocity feedback gain is introduced. The validity of the theoretical analysis is confirmed by simulations and experimental results.

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Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain

Abstract

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Keywords

ASJC Scopus subject areas

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