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 proceedingConference 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 languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages568-573
Number of pages6
ISBN (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

Keywords

  • bilateral control
  • damping injection
  • haptics
  • operationality
  • time delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • 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