Force-based control scheme for stable contact motion in time-delayed teleoperation

Nobuto Yoshimura; Yoshiki Ohno; Kouhei Ohnishi

doi:10.1109/ICIT.2015.7125109

Force-based control scheme for stable contact motion in time-delayed teleoperation

Nobuto Yoshimura, Yoshiki Ohno, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

In this paper, force-based control scheme for stable contact motion is proposed. In recent days, haptics is one of major topics in robotics field. Especially teleoperation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. Some conventional approaches tried to compensate delay of position by using compensator, however degrading of contact stability is not mentioned sufficiently. And conventional approach using some compensator degrade adaptability for target object. From this point of view, this paper aims to keep adaptability and improve contact stability in time delayed teleoperation.

Original language	English
Pages	265-270
Number of pages	6
DOIs	https://doi.org/10.1109/ICIT.2015.7125109
Publication status	Published - 2015 Jun 16
Event	2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain Duration: 2015 Mar 17 → 2015 Mar 19

Other

Other	2015 IEEE International Conference on Industrial Technology, ICIT 2015
Country	Spain
City	Seville
Period	15/3/17 → 15/3/19

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

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abstract = "In this paper, force-based control scheme for stable contact motion is proposed. In recent days, haptics is one of major topics in robotics field. Especially teleoperation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. Some conventional approaches tried to compensate delay of position by using compensator, however degrading of contact stability is not mentioned sufficiently. And conventional approach using some compensator degrade adaptability for target object. From this point of view, this paper aims to keep adaptability and improve contact stability in time delayed teleoperation.",

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AB - In this paper, force-based control scheme for stable contact motion is proposed. In recent days, haptics is one of major topics in robotics field. Especially teleoperation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. Some conventional approaches tried to compensate delay of position by using compensator, however degrading of contact stability is not mentioned sufficiently. And conventional approach using some compensator degrade adaptability for target object. From this point of view, this paper aims to keep adaptability and improve contact stability in time delayed teleoperation.

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Force-based control scheme for stable contact motion in time-delayed teleoperation

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