Compliance control for stabilization of bilateral teleoperation system in the presence of time delay

Hayata Sakai, Daisuke Tomizuka, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Bilateral teleoperation is one of the promising technologies and enables us to work in the distance. However, the time delay in network seriously deteriorates the performance and possibly makes the system unstable. The authors previously proposed architectures with high transparency for delayed bilateral teleoperation system, which are the P-F architecture and the F-P architecture. However, these architectures are quite unstable. The P-F architecture can contact soft and hard environment by introducing the damping. On the other hand, the F-P architecture cannot contact hard environment even if the damping is introduced. Therefore, this paper proposes the stabilization method especially for the F-P architecture. The proposed method introduces the compliance control in differential mode in the F-P architecture. The compliance control in differential mode provides stability, but position error occurs instead. Therefore, this paper also proposes the switching procedure so the F-P architecture can have compliance only against hard environment. The effectiveness of the proposed method is validated experimentally.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages62-67
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

Keywords

  • bilateral teleoperation
  • compliance control
  • haptics
  • modal space
  • network
  • switching

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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