Impedance control based two-channel architecture in time delayed teleoperation system

Nobuto Yoshimura, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper proposes a two channel control architecture based on impedance transmission in time delayed teleoperation system. In conventional research, bilateral teleoperation is widely researched and bilateral control is used to obtain remote force imformation. However the performance is degraded and destabilized by time delay. Conventional approaches like smith predictor, communication disturbance observer (CDOB), and three-channel architecture improved stability of position control and reduced operational force caused by time delay, yet force control is still not stable. Damping injection can stabilize the force control, but law of action-reaction was not achieved. To achieve teleoperation using force feedback, law of action-reaction should be achieved. From the point of view, experiments are conducted and validity of the proposed method is confirmed.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1204-1209
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

Keywords

  • acceleration control
  • force control
  • impedance control
  • modal space
  • time delay
  • two channel architecture

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Impedance control based two-channel architecture in time delayed teleoperation system'. Together they form a unique fingerprint.

  • Cite this

    Yoshimura, N., & Ohnishi, K. (2014). Impedance control based two-channel architecture in time delayed teleoperation system. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 1204-1209). [6864785] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864785