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

Nobuto Yoshimura, Kouhei Ohnishi

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

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

Other

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

Fingerprint

Remote control
Force control
Time delay
Position control
Damping
Feedback
Communication
Experiments

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

Cite this

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

Impedance control based two-channel architecture in time delayed teleoperation system. / Yoshimura, Nobuto; Ohnishi, Kouhei.

IEEE International Symposium on Industrial Electronics. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1204-1209 6864785.

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

Yoshimura, N & Ohnishi, K 2014, Impedance control based two-channel architecture in time delayed teleoperation system. in IEEE International Symposium on Industrial Electronics., 6864785, Institute of Electrical and Electronics Engineers Inc., pp. 1204-1209, 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014, Istanbul, Turkey, 14/6/1. https://doi.org/10.1109/ISIE.2014.6864785
Yoshimura N, Ohnishi K. Impedance control based two-channel architecture in time delayed teleoperation system. In IEEE International Symposium on Industrial Electronics. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1204-1209. 6864785 https://doi.org/10.1109/ISIE.2014.6864785
Yoshimura, Nobuto ; Ohnishi, Kouhei. / Impedance control based two-channel architecture in time delayed teleoperation system. IEEE International Symposium on Industrial Electronics. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1204-1209
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