Transparency-optimized bilateral teleoperation based on acceleration control in the presence of time delay

Hayata Sakai, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper proposes a novel control architecture for bilateral teleoperation with time delay. The proposed bilateral teleoperation system has transparency under the presence of time delay. The conventional bilateral teleoperation system cannot have transparency under time delay because the control goals are not clear and inappropriate in the presence of time delay. The proposed method utilizes the position information and the force information of both the master and the slave, and also uses the round trip position and force information. In the proposed method, there are two kinds of structure. The one is Position-Force architecture (P-F architecture), and the other is Force-Position architecture (F-P architecture). These methods achieve a high level of transparency but poorer stability than conventional methods. Therefore, this paper introduces the damping injection, which is famous stabilizing method, into the system to stabilize the system, and analyzes the stability condition of the proposed method without/with damping. The effectiveness of the proposed method is validated experimentally.

Original languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages147-152
Number of pages6
ISBN (Electronic)9781479984640
DOIs
Publication statusPublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
Duration: 2016 Apr 222016 Apr 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

Keywords

  • communication
  • Damping injection
  • teleoperation
  • time-delay
  • transparency

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Transparency-optimized bilateral teleoperation based on acceleration control in the presence of time delay'. Together they form a unique fingerprint.

Cite this