Damping injection using position-based contact detection for bilateral control system under time delay

Shuhei Shimizu; Yoshiki Ohno; Kouhei Ohnishi

doi:10.1109/ICMECH.2015.7084039

Damping injection using position-based contact detection for bilateral control system under time delay

Shuhei Shimizu, Yoshiki Ohno, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.

Original language	English
Title of host publication	Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	568-573
Number of pages	6
ISBN (Electronic)	9781479936335
DOIs	https://doi.org/10.1109/ICMECH.2015.7084039
Publication status	Published - 2015 Apr 9
Externally published	Yes
Event	2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan Duration: 2015 Mar 6 → 2015 Mar 8

Publication series

Name	Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other	2015 IEEE International Conference on Mechatronics, ICM 2015
Country/Territory	Japan
City	Nagoya
Period	15/3/6 → 15/3/8

Keywords

bilateral control
damping injection
haptics
operationality
time delay

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMECH.2015.7084039

Cite this

Shimizu, S., Ohno, Y., & Ohnishi, K. (2015). Damping injection using position-based contact detection for bilateral control system under time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 568-573). [7084039] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084039

Damping injection using position-based contact detection for bilateral control system under time delay. / Shimizu, Shuhei; Ohno, Yoshiki; Ohnishi, Kouhei.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 568-573 7084039 (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shimizu, S, Ohno, Y & Ohnishi, K 2015, Damping injection using position-based contact detection for bilateral control system under time delay. in Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084039, Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015, Institute of Electrical and Electronics Engineers Inc., pp. 568-573, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084039

Shimizu S, Ohno Y, Ohnishi K. Damping injection using position-based contact detection for bilateral control system under time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 568-573. 7084039. (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). doi: 10.1109/ICMECH.2015.7084039

Shimizu, Shuhei ; Ohno, Yoshiki ; Ohnishi, Kouhei. / Damping injection using position-based contact detection for bilateral control system under time delay. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 568-573 (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015).

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title = "Damping injection using position-based contact detection for bilateral control system under time delay",

abstract = "In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.",

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author = "Shuhei Shimizu and Yoshiki Ohno and Kouhei Ohnishi",

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N2 - In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.

AB - In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.

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Damping injection using position-based contact detection for bilateral control system under time delay

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