TY - GEN
T1 - Impedance control based two-channel architecture in time delayed teleoperation system
AU - Yoshimura, Nobuto
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
KW - acceleration control
KW - force control
KW - impedance control
KW - modal space
KW - time delay
KW - two channel architecture
UR - http://www.scopus.com/inward/record.url?scp=84907342617&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84907342617&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2014.6864785
DO - 10.1109/ISIE.2014.6864785
M3 - Conference contribution
AN - SCOPUS:84907342617
SN - 9781479923991
T3 - IEEE International Symposium on Industrial Electronics
SP - 1204
EP - 1209
BT - Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Y2 - 1 June 2014 through 4 June 2014
ER -