Contact motion stabilization using equivalent future response in synchronized bilateral teleoperation

Satoshi Nishimura, Seiichiro Katsura

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

Abstract

This paper proposes a method to stabilize contact motion to hard environment without enlarging additional operational force in synchronized bilateral teleoperation. It is well known that tactile transmission ability of bilateral teleoperation becomes worse because of a time delay between the systems. In this background, synchronized bilateral teleoperation (SBT) was previously proposed that highly performs to reproduce an impedance of an environment in a master system. On the other hand, the control system requires large operational force in order to realize stable contact motion, especially to high stiffness environment. In this paper, the trade-off is overcome by using the equivalent plant model of the control system. The plant model realizes to calculate the future value of the system's position and velocity responses. Compensation value for stable contact motion is only generated when the system starts to contact with the environment. The validity of the proposed method is confirmed through experiments.

Original languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages66-71
Number of pages6
ISBN (Print)9781467379700
DOIs
Publication statusPublished - 2015 Dec 16
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 2015 Oct 282015 Oct 30

Other

Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
CountryKorea, Republic of
CityGoyang City
Period15/10/2815/10/30

Keywords

  • Acceleration Control
  • Bilateral Control
  • Disturbance Observer
  • Time Delay

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Nishimura, S., & Katsura, S. (2015). Contact motion stabilization using equivalent future response in synchronized bilateral teleoperation. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 66-71). [7358930] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358930