Abstract
A switching-channel bilateral control with energy monitor (EM) is newly proposed to realize haptic communication through a wireless network. The varying delay in the communication line and the situation of duplex operation are considered. In such a system, human operators on two sides of the master-slave robots system feel the hardness of the remote environment placed on the contralateral side. The EM approach is presented to judge the role of the robot (manipulated by an operator or contacting an environment), which provides a beacon for the switching algorithm. The position tracking of the system is improved by switching off the channel of force control in the human manipulated robot. The problem of position drift in traditional methods is overcome. Disturbance observer is applied to simplify the design of the bilateral control law, and to guarantee the efficient force switching. Because of improved position tracking and satisfactory force fidelity, the proposed approach achieves more vivid haptic transmission. By experiments, the validity is verified.
| Original language | English |
|---|---|
| Article number | 6162986 |
| Pages (from-to) | 488-498 |
| Number of pages | 11 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 17 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2012 |
Fingerprint
Keywords
- Bilateral control
- energy monitor (EM)
- haptic
- switching
- wireless
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Wireless haptic communication under varying delay by switching-channel bilateral control with energy monitor. / Tian, Dapeng; Yashiro, Daisuke; Ohnishi, Kouhei.
In: IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 3, 6162986, 2012, p. 488-498.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Wireless haptic communication under varying delay by switching-channel bilateral control with energy monitor
AU - Tian, Dapeng
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2012
Y1 - 2012
N2 - A switching-channel bilateral control with energy monitor (EM) is newly proposed to realize haptic communication through a wireless network. The varying delay in the communication line and the situation of duplex operation are considered. In such a system, human operators on two sides of the master-slave robots system feel the hardness of the remote environment placed on the contralateral side. The EM approach is presented to judge the role of the robot (manipulated by an operator or contacting an environment), which provides a beacon for the switching algorithm. The position tracking of the system is improved by switching off the channel of force control in the human manipulated robot. The problem of position drift in traditional methods is overcome. Disturbance observer is applied to simplify the design of the bilateral control law, and to guarantee the efficient force switching. Because of improved position tracking and satisfactory force fidelity, the proposed approach achieves more vivid haptic transmission. By experiments, the validity is verified.
AB - A switching-channel bilateral control with energy monitor (EM) is newly proposed to realize haptic communication through a wireless network. The varying delay in the communication line and the situation of duplex operation are considered. In such a system, human operators on two sides of the master-slave robots system feel the hardness of the remote environment placed on the contralateral side. The EM approach is presented to judge the role of the robot (manipulated by an operator or contacting an environment), which provides a beacon for the switching algorithm. The position tracking of the system is improved by switching off the channel of force control in the human manipulated robot. The problem of position drift in traditional methods is overcome. Disturbance observer is applied to simplify the design of the bilateral control law, and to guarantee the efficient force switching. Because of improved position tracking and satisfactory force fidelity, the proposed approach achieves more vivid haptic transmission. By experiments, the validity is verified.
KW - Bilateral control
KW - energy monitor (EM)
KW - haptic
KW - switching
KW - wireless
UR - http://www.scopus.com/inward/record.url?scp=84860657966&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84860657966&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2012.2187459
DO - 10.1109/TMECH.2012.2187459
M3 - Article
VL - 17
SP - 488
EP - 498
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 3
M1 - 6162986
ER -