Transparency analysis of motion canceling bilateral control under sensing constraints

Yu Nakajima, Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This system helps the operator by taking a task and reduces his/her workload. Unfortunately, the transparency is deteriorated due to the operational force caused by a dynamic motion of the target. This effect is caused by the discreteness and a delay in external sensors essential for MCBC. However, the relationships between the transparency and those sensing constraints were not clarified yet. Therefore in this research, the frequency characteristics of the transparency for the MCBC are analyzed in the following three basis: type of holds, sampling period, and stiffness of the target. The analytical results suggested following three behaviors in the transparency of the MCBC. A first order hold showed better performance compared with a zero order hold, but it has a peak gain near the Nyquist frequency Shorter sampling period improves the performance Contacting hard target deteriorate the performance The validity of analysis was verified by the experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Fingerprint

Transparency
Sensing
Motion
Target
Sampling
Remote control
Teleoperation
Stiffness
Robots
Operator
Workload
Sensors
Robot
First-order
Sensor
Zero
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Nakajima, Y., Nozaki, T., Mizoguchi, T., & Ohnishi, K. (2012). Transparency analysis of motion canceling bilateral control under sensing constraints. In International Workshop on Advanced Motion Control, AMC [6197090] https://doi.org/10.1109/AMC.2012.6197090

Transparency analysis of motion canceling bilateral control under sensing constraints. / Nakajima, Yu; Nozaki, Takahiro; Mizoguchi, Takahiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2012. 6197090.

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

Nakajima, Y, Nozaki, T, Mizoguchi, T & Ohnishi, K 2012, Transparency analysis of motion canceling bilateral control under sensing constraints. in International Workshop on Advanced Motion Control, AMC., 6197090, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197090
Nakajima Y, Nozaki T, Mizoguchi T, Ohnishi K. Transparency analysis of motion canceling bilateral control under sensing constraints. In International Workshop on Advanced Motion Control, AMC. 2012. 6197090 https://doi.org/10.1109/AMC.2012.6197090
Nakajima, Yu ; Nozaki, Takahiro ; Mizoguchi, Takahiro ; Ohnishi, Kouhei. / Transparency analysis of motion canceling bilateral control under sensing constraints. International Workshop on Advanced Motion Control, AMC. 2012.
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