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 language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Industrial Technology |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 423-428 |
| Number of pages | 6 |
| Volume | 2015-June |
| Edition | June |
| DOIs | |
| Publication status | Published - 2015 Jun 16 |
| Event | 2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain Duration: 2015 Mar 17 → 2015 Mar 19 |
Other
| Other | 2015 IEEE International Conference on Industrial Technology, ICIT 2015 |
|---|---|
| Country | Spain |
| City | Seville |
| Period | 15/3/17 → 15/3/19 |
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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
Cite this
Power-based damping injection for bilateral control systems under time delay. / Ohno, Yoshiki; Yoshimura, Nobuto; Ohnishi, Kouhei.
Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 423-428 7125135.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Power-based damping injection for bilateral control systems under time delay
AU - Ohno, Yoshiki
AU - Yoshimura, Nobuto
AU - Ohnishi, Kouhei
PY - 2015/6/16
Y1 - 2015/6/16
N2 - 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.
AB - 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.
KW - 3-channel
KW - bilateral control
KW - damping injection
KW - frequency-domain damping design (FDD)
KW - haptics
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=84937686722&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84937686722&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2015.7125135
DO - 10.1109/ICIT.2015.7125135
M3 - Conference contribution
AN - SCOPUS:84937686722
VL - 2015-June
SP - 423
EP - 428
BT - Proceedings of the IEEE International Conference on Industrial Technology
PB - Institute of Electrical and Electronics Engineers Inc.
ER -