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 |
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Pages | 265-270 |
Number of pages | 6 |
DOIs | |
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 |
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Country | Spain |
City | Seville |
Period | 15/3/17 → 15/3/19 |
ASJC Scopus subject areas
- Computer Science Applications
- Electrical and Electronic Engineering