Reproducibility and operationality in bilateral teleoperation

Wataru Iida, Kouhei Ohnishi

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

372 Citations (Scopus)

Abstract

There are many works about bilateral teleoperation. However, good touch sense of remote object has not been realized in actual system yet. In this paper, the goals of bilateral teleoperation are considered as following two points. One is a reproduction of environmental impedance in master side. The other is a realization of small operational force. Operational force means the force the operator feels in addition to real environmental force. Corresponding to these goals, novel evaluation indices are defined which are named "reproducibility" and "operationality", respectively. Moreover, control stability must be satisfied. After all, bilateral teleoperation must satisfy three conditions such as reproducibility, operationality and stability. Using defined evaluation indices, bilateral controller is designed. Through analysis, it is confirmed that the three desired conditions in bilateral teleoperation are well satisfied with this controller. The effectiveness of this research is demonstrated by an experiment with bilateral forceps robot.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages217-222
Number of pages6
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Remote control
Controllers
Robots
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Iida, W., & Ohnishi, K. (2004). Reproducibility and operationality in bilateral teleoperation. In International Workshop on Advanced Motion Control, AMC (pp. 217-222)

Reproducibility and operationality in bilateral teleoperation. / Iida, Wataru; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 217-222.

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

Iida, W & Ohnishi, K 2004, Reproducibility and operationality in bilateral teleoperation. in International Workshop on Advanced Motion Control, AMC. pp. 217-222, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Iida W, Ohnishi K. Reproducibility and operationality in bilateral teleoperation. In International Workshop on Advanced Motion Control, AMC. 2004. p. 217-222
Iida, Wataru ; Ohnishi, Kouhei. / Reproducibility and operationality in bilateral teleoperation. International Workshop on Advanced Motion Control, AMC. 2004. pp. 217-222
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