Bilateral control with local force feedback for delay-free teleoperation

Takumi Ishii, Seiichiro Katsura

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

11 Citations (Scopus)

Abstract

Bilateral teleoperation system through network is negatively affected to stability by communication delay. In this paper, bilateral teleoperation system is researched toward a delay free bilateral teleoperation. By using 2ch bilateral control which is transmitting and controlling only positions, the stability of bilateral teleoperation system is enhanced. However, the bilateral teleoperation controlling only position increases force needed to operate master system. So, the operationality comes down, and teleoperation becomes difficult. Therefore, in order to enhance the operationality, local force feedback loop is added, and external force is controlled to 0. So, the proposed method enhances the stability while keeping good operationality. As a result, it turns out that the bilateral control system can enhance the performance of communication delay by reducing connectability of master and slave.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Ishii, T., & Katsura, S. (2012). Bilateral control with local force feedback for delay-free teleoperation. In International Workshop on Advanced Motion Control, AMC [6197100] https://doi.org/10.1109/AMC.2012.6197100