Operational force reduction method in bilateral control system and evaluation under time delay

Shuhei Shimizu, Yoshiki Ohno, Kouhei Ohnishi

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

Abstract

Bilateral control is the control technology transmitting the sense of the force to the remote area by using master robot and slave robot. In this control system, it is desirable for operational force to be small. If there is large operational force, it is difficult to recognize stiffness of the remote object, because differences between the contact force and the operational force come small. In addition, under the real situation, transmittable information may be limited. To solve these problems, in this paper, the operational force reduction method in bilateral control by acceleration model addition is proposed. This method reduces the operational force for manipulating master robot without imposing load on the network. Furthermore, instability can be avoided by using low-pass filter. At first, equations are assembled to reduce the operational force by using hybrid parameters. Afterwards, the validity of the proposed method is confirmed in simulations. Moreover, the time delay response, which is a new evaluation index, is introduced and the effectiveness of the proposed method is verified in time delay system. At last, the effectiveness of the proposal is shown in experiments by using actual robots.

Original languageEnglish
Title of host publicationProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4787-4792
Number of pages6
ISBN (Print)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24
Event40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
Duration: 2014 Oct 302014 Nov 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
CountryUnited States
CityDallas
Period14/10/3014/11/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Shimizu, S., Ohno, Y., & Ohnishi, K. (2014). Operational force reduction method in bilateral control system and evaluation under time delay. In Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society (pp. 4787-4792). [7049225] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7049225