Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay

Shuhei Shimizu; Takuya Matsunaga; Kouhei Ohnishi

doi:10.1109/IECON.2015.7392822

Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay

Shuhei Shimizu, Takuya Matsunaga, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. The validity of the proposed method is verified through experiments.

Original language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4633-4638
Number of pages	6
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392822
Publication status	Published - 2016 Jan 25
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 2015 Nov 9 → 2015 Nov 12

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	15/11/9 → 15/11/12

Keywords

bilateral control
haptics
position error
symmetric structure
time delay

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/IECON.2015.7392822

Cite this

Shimizu, S., Matsunaga, T., & Ohnishi, K. (2016). Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4633-4638). [7392822] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392822

Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay. / Shimizu, Shuhei; Matsunaga, Takuya; Ohnishi, Kouhei.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4633-4638 7392822.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shimizu, S, Matsunaga, T & Ohnishi, K 2016, Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392822, Institute of Electrical and Electronics Engineers Inc., pp. 4633-4638, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392822

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abstract = "Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. The validity of the proposed method is verified through experiments.",

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author = "Shuhei Shimizu and Takuya Matsunaga and Kouhei Ohnishi",

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Y1 - 2016/1/25

N2 - Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. The validity of the proposed method is verified through experiments.

AB - Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. The validity of the proposed method is verified through experiments.

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Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay

Abstract

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Keywords

ASJC Scopus subject areas

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