TY - GEN
T1 - Motion canceling bilateral control with image-space observer in free-motion
AU - Okiyama, Ko
AU - Murakami, Toshiyuki
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
KW - Image-space observer
KW - Master-slave system
KW - Motion canceling bilateral control
KW - Zero-order hold
UR - http://www.scopus.com/inward/record.url?scp=84903119345&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903119345&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823339
DO - 10.1109/AMC.2014.6823339
M3 - Conference contribution
AN - SCOPUS:84903119345
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 542
EP - 547
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -