Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay

Toshiaki Okano, Kouhei Ohnishi, Toshiyuki Murakami

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

Abstract

Teleoperation gets a significant attention from the society, and 4ch bilateral control is known as a method to realize the haptics transmission. Its controller is able to achieve the rich haptics transmission, but the performance is degraded under the presence of time-delay due to the interference between the position and force controllers. In particular, its interference becomes larger when position and force scaling are set more than 1 and the mass difference between the master and slave is large. 3ch architecture has proposed to tackle with the performance deterioration when the position and force scaling are set more than 1, but no researches have conducted for considering both the scaling and mass difference. This paper considers the situation that the scaling are set and the mass difference is existed in addition to the time-delay. Oblique coordinate control is utilized, and the superiority of 4ch and 3ch architectures are discussed. The proposal takes the superiority of these two architectures, and its effectiveness was verified through simulations and experiments.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages249-254
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

Fingerprint

Oblique
Time Delay
Time delay
Scaling
Controllers
Haptics
Remote control
Deterioration
Interference
Controller
Teleoperation
Experiments
Experiment
Architecture
Simulation

ASJC Scopus subject areas

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

Cite this

Okano, T., Ohnishi, K., & Murakami, T. (2019). Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 249-254). [8722884] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722884

Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay. / Okano, Toshiaki; Ohnishi, Kouhei; Murakami, Toshiyuki.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 249-254 8722884 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019).

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

Okano, T, Ohnishi, K & Murakami, T 2019, Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay. in Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019., 8722884, Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 249-254, 2019 IEEE International Conference on Mechatronics, ICM 2019, Ilmenau, Germany, 19/3/18. https://doi.org/10.1109/ICMECH.2019.8722884
Okano T, Ohnishi K, Murakami T. Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 249-254. 8722884. (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). https://doi.org/10.1109/ICMECH.2019.8722884
Okano, Toshiaki ; Ohnishi, Kouhei ; Murakami, Toshiyuki. / Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay. Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 249-254 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019).
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