Symmetric Operational Force Compensator for Bilateral Teleoperation under Time Delay Based on Power Flow Direction

Shuhei Shimmyo, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

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

Abstract

This paper proposes an operational force reduction method for four-channel bilateral teleoperation under time delay. The four-channel bilateral control is an attractive way to realize a remote control with haptic sensation. In general, the haptic sensation deteriorates under the time delay in the four-channel bilateral teleoperation, e.g., operationality of the teleoperation, stability of the system, and other performances. To improve the operationality in free motion, a communication disturbance observer and a three-channel bilateral control have been proposed. Although the operational force in the free motion is reduced by these methods, the system becomes asymmetric. This means that the performance of the remote control from the slave side deteriorates in these methods. To overcome this problem, a novel symmetric compensator by using variable compliance control is proposed. A feedback gain is varied based on a power flow direction. The validity of the proposed method is confirmed by experimental results.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages700-705
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 2019 Mar 182019 Mar 20

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period19/3/1819/3/20

Keywords

  • bilateral control
  • haptics
  • power flow
  • symmetric compensator
  • time delay
  • variable compliance control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

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