Automatically-Tuned Damping Injection for Stable Bilateral Control under Time Delay

Satoshi Hangai, Takahiro Nozaki

研究成果: Conference contribution

抄録

Bilateral control is one of the methods to realize a teleoperation with force feedback. However, communication time delay seriously deteriorates operationality and stability of bilateral control. Although 3-channel bilateral control has been proposed to improve operationality, the system becomes unstable in contact motion. Damping injection is an effective method to stabilize the contact motion by producing viscous force. However, this method produces large operational force and deteriorates operationality. Many researchers tried to inject damping without deteriorating operationality. However, their methods are affected by several situations/factors such as delay time or operator's motion speed. As a result, their methods require a redesigning procedure in order to deal with such situations/factors. In this paper, automatically-tuned damping injection is proposed to stabilize the contact motion in 3-channel bilateral control. In the proposed method, damping gain is automatically determined by monitoring the Lyapunov stability of the force control. The effectiveness of the proposed method is verified by experiments.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ667-672
ページ数6
ISBN(電子版)9781538669594
DOI
出版ステータスPublished - 2019 5月 24
イベント2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
継続期間: 2019 3月 182019 3月 20

出版物シリーズ

名前Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
国/地域Germany
CityIlmenau
Period19/3/1819/3/20

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 自動車工学
  • 機械工学
  • 制御と最適化
  • 産業および生産工学

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