Analysis and compensation of operational force in bilateral control systems under time-varying delay

Yoshiki Ohno, Nobuto Yoshimura, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore, if the time delay is time-varying, operator feels uncomfortable scratchy sensation in addition to the operational force. Therefore, this paper proposes a method to compensate the effect of time-varying delay in 4-channel bilateral control systems. First, it is cleared that the scratchy feeling can be regarded as high frequency communicative operational force and that it can be calculated in real time quantitatively. Then, elimination method for the scratchy feeling is proposed from the view of operational force. Proposed method can compensate only the effect of delay variation without any delay time model. The validities of proposed methods are verified by some experiments.

元の言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版者Institute of Electrical and Electronics Engineers Inc.
ページ132-137
ページ数6
ISBN(電子版)9781479936335
DOI
出版物ステータスPublished - 2015 4 9
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3 62015 3 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
Japan
Nagoya
期間15/3/615/3/8

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

フィンガープリント Analysis and compensation of operational force in bilateral control systems under time-varying delay' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Ohno, Y., Yoshimura, N., & Ohnishi, K. (2015). Analysis and compensation of operational force in bilateral control systems under time-varying delay. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 132-137). [7083961] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7083961