Motion canceling bilateral control with image-space observer in free-motion

Ko Okiyama, Toshiyuki Murakami

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

1 Citation (Scopus)

Abstract

Master-slave system with bilateral control is a key technology for the next generation robots. Since position and force information are transmitted bilaterally, operators can operate slave robots in remote places, and feel tactile sensation of remote environments. However, since the slave robot performs according to human operation, operational skills are required, and the workload is heavy. It is especially difficult to realize teleoperation when the target object moves in a remote place. Motion canceling bilateral control (MCBC), a method to synchronize motion of the slave robot and the target, can be one solution for this problem. The purpose of this research is to design MCBC controllers considering the zero-order hold (ZOH) effect caused by camera information. First, transparency of 4ch MCBC controller and 3ch MCBC controller are analyzed. Then, image-space observer (IOB) is introduced to the 3ch MCBC controller to enhance the performance. Simulation and experiment are conducted to verify the validity of the proposed method.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages542-547
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • Image-space observer
  • Master-slave system
  • Motion canceling bilateral control
  • Zero-order hold

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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