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

Nobuto Yoshimura, Yoshiki Ohno, Kouhei Ohnishi

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

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 languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages265-270
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

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  • Cite this

    Yoshimura, N., Ohno, Y., & Ohnishi, K. (2015). Force-based control scheme for stable contact motion in time-delayed teleoperation. In Proceedings of the IEEE International Conference on Industrial Technology (June ed., Vol. 2015-June, pp. 265-270). [7125109] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125109