Bilateral control using estimated environmental stiffness as the master position gain

Kazuya Kitamura, Daisuke Yashiro, Kouhei Ohnishi

Research output: Contribution to conferencePaper

7 Citations (Scopus)

Abstract

Bilateral control system has been developed as a method to transmit a tactile sense. It enables human operators to feel as if they were really touching the environment. Teleopertion with the bilateral control has a wide range of application such as telesurgery, deep-sea operation, space mission, etc. However, the presence of the communication delay between master and slave systems degrades performance and stability. There are two representative conventional methods based on acceleration control. One is 4ch bilateral control and the other is 3ch bilateral control. In 4ch bilateral control system, an operator is able to feel the hard environment, but the operator feel the large operational force. On the other hand, in 3ch bilateral control system, little operational force is generated, but stable contact can not be achieved. This paper proposes a novel bilateral control using the estimated environmental stiffness as the master position gain. The proposed method enables the operator to feel the hard environment with little operational force. The validity of the proposed control system is confirmed by analyses and experiments.

Original languageEnglish
Pages2981-2986
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kitamura, K., Yashiro, D., & Ohnishi, K. (2009). Bilateral control using estimated environmental stiffness as the master position gain. 2981-2986. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415282