Bilateral teleoperation over network based on environmental data memory

Yuki Yokokura, Seiichiro Katsura

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

Abstract

This paper proposes a novel bilateral control system using environmental data memory and slave system simulator in order to eliminate effect of the time delay, which exist in the communication network. The slave system simulator imitates the real slave system by using the environmental data memory without environmental mathematical model. Thus, non-linear environment and unknown environment can be treated, since raw force information is utilized. In addition, responses of the slave system in the real-world are not returned directly to the master side. By the proposed method, the bilateral controller operates normally under the time delay, which causes vibration and/or overdrive. Therefore, the human operator in the master side is able to grasp the environmental sense through the bilateral controller, even if the environment exists in the distant place. By the experiments, the validity of the proposed method was confirmed in the case that the time delay is set to 0 to 10s.

Original languageEnglish
Title of host publicationProceedings - The 12th International Conference on Electrical Machines and Systems, ICEMS 2009
DOIs
Publication statusPublished - 2009 Dec 1
Event12th International Conference on Electrical Machines and Systems, ICEMS 2009 - Tokyo, Japan
Duration: 2009 Nov 152009 Nov 18

Publication series

NameProceedings - The 12th International Conference on Electrical Machines and Systems, ICEMS 2009

Other

Other12th International Conference on Electrical Machines and Systems, ICEMS 2009
CountryJapan
CityTokyo
Period09/11/1509/11/18

Keywords

  • Acceleration control
  • Bilateral control
  • Communication delay
  • Environmental data memory

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Yokokura, Y., & Katsura, S. (2009). Bilateral teleoperation over network based on environmental data memory. In Proceedings - The 12th International Conference on Electrical Machines and Systems, ICEMS 2009 [5382784] (Proceedings - The 12th International Conference on Electrical Machines and Systems, ICEMS 2009). https://doi.org/10.1109/ICEMS.2009.5382784