Bilateral Control under Time Delay by Using Adjustment of Equilibrium Acceleration

Tsukasa Takenouchi, Toshiyuki Murakami

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

Abstract

This paper aims to lower the operational force for bilateral control under time delay while guaranteeing stability. Bilateral teleoperation system enables humans to work in remote places. However, time delay on network impairs the stability and the performance. The conventional method has trade-off problem between stability and operationality. This paper introduces the concept of equilibrium acceleration, which includes both position and force information, and proposes a method to detect vibration based on the difference of equilibrium acceleration. As a result, the algorithm can be considered simply, and it is possible to stabilize only during vibration and improve the operationality in free motion. Since this paper does not focus on frequency, but vibration, damping control works only during vibration and the operational force can be reduced compared to the conventional method. The effectiveness of the proposed method is verified by simulations and experiments.

Original languageEnglish
Title of host publicationProceedings - IECON 2020
Subtitle of host publication46th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages118-123
Number of pages6
ISBN (Electronic)9781728154145
DOIs
Publication statusPublished - 2020 Oct 18
Event46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
Duration: 2020 Oct 192020 Oct 21

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
CountrySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

Keywords

  • Bilateral control
  • haptics
  • motion control
  • robotics
  • time delay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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