Impedance shaping based on bilateral control in teleoperation system

Hideyuki Kobayashi, Kouhei Ohnishi

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

Abstract

Nowadays, teleoperation is utilized in many areas such as medical care and space exploration. Teleoperation system enables an operator to undertake precise work in such inaccessible or hazardous environment. In bilateral teleoperation, the transmission of force sensation is important. In other words, the impedance transmitted to an operator should be equal to environmental impedance. That is the goal of bilateral teleoperation and defined as transparency. Also, it is possible to alter force sensation by using bilateral control. This idea is valuable when the characteristics of task impedance are different from those of human world, such as micro world. In case of telemanipulating the objects which are in the place where the characteristics are different from those in human world, work performance would be improved if an operator can manipulate the objects as they are in human world. In this paper, we propose the impedance shaping based on bilateral control. The validity and stability of the proposed control system is demonstrated theoretically and experimentally.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages818-823
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kobayashi, H., & Ohnishi, K. (2006). Impedance shaping based on bilateral control in teleoperation system. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 818-823). [4237646] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372324