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

Other

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

Fingerprint

Image Space
Observer
Motion
Robot
Robots
Controller
Controllers
Teleoperation
Target
Remote control
Transparency
Workload
Camera
Cameras
Verify
Zero
Operator
Experiment
Simulation
Experiments

Keywords

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

ASJC Scopus subject areas

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

Cite this

Okiyama, K., & Murakami, T. (2014). Motion canceling bilateral control with image-space observer in free-motion. In International Workshop on Advanced Motion Control, AMC (pp. 542-547). [6823339] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823339

Motion canceling bilateral control with image-space observer in free-motion. / Okiyama, Ko; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 542-547 6823339.

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

Okiyama, K & Murakami, T 2014, Motion canceling bilateral control with image-space observer in free-motion. in International Workshop on Advanced Motion Control, AMC., 6823339, Institute of Electrical and Electronics Engineers Inc., pp. 542-547, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823339
Okiyama K, Murakami T. Motion canceling bilateral control with image-space observer in free-motion. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 542-547. 6823339 https://doi.org/10.1109/AMC.2014.6823339
Okiyama, Ko ; Murakami, Toshiyuki. / Motion canceling bilateral control with image-space observer in free-motion. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 542-547
@inproceedings{5d6809d569614fb5bc2b5653eba55868,
title = "Motion canceling bilateral control with image-space observer in free-motion",
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.",
keywords = "Image-space observer, Master-slave system, Motion canceling bilateral control, Zero-order hold",
author = "Ko Okiyama and Toshiyuki Murakami",
year = "2014",
doi = "10.1109/AMC.2014.6823339",
language = "English",
isbn = "9781479923243",
pages = "542--547",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Motion canceling bilateral control with image-space observer in free-motion

AU - Okiyama, Ko

AU - Murakami, Toshiyuki

PY - 2014

Y1 - 2014

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

SP - 542

EP - 547

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -