Power-based damping injection for bilateral control systems under time delay

Yoshiki Ohno, Nobuto Yoshimura, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper proposes a novel method to improve the stability of time-delayed bilateral control systems. 3-channel bilateral control system is one of teleoperation systems with haptic feedback. It can transmit haptic sense without large operational force even under time delay. However, the stability of contact motion with hard environments is not ensured. Therefore, this paper proposes a new damping injection method based on power of mechanical systems. In this method, instantaneous power of master robot is observed every time and damping injection is performed only when the system becomes unstable. Then, proposed method can improve the stability of contact motion with keeping small operational force. Compared with conventional methods, it realizes nearly perfect operationality in free motion and the implementation is easy. The validity of the proposed method is verified by some experiments.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages423-428
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

Keywords

  • 3-channel
  • bilateral control
  • damping injection
  • frequency-domain damping design (FDD)
  • haptics
  • time delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

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  • Cite this

    Ohno, Y., Yoshimura, N., & Ohnishi, K. (2015). Power-based damping injection for bilateral control systems under time delay. In Proceedings of the IEEE International Conference on Industrial Technology (June ed., Vol. 2015-June, pp. 423-428). [7125135] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125135