Bilateral control with local force feedback for delay-free teleoperation

Takumi Ishii, Seiichiro Katsura

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

Bilateral teleoperation system through network is negatively affected to stability by communication delay. In this paper, bilateral teleoperation system is researched toward a delay free bilateral teleoperation. By using 2ch bilateral control which is transmitting and controlling only positions, the stability of bilateral teleoperation system is enhanced. However, the bilateral teleoperation controlling only position increases force needed to operate master system. So, the operationality comes down, and teleoperation becomes difficult. Therefore, in order to enhance the operationality, local force feedback loop is added, and external force is controlled to 0. So, the proposed method enhances the stability while keeping good operationality. As a result, it turns out that the bilateral control system can enhance the performance of communication delay by reducing connectability of master and slave.

本文言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版ステータスPublished - 2012
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3月 252012 3月 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
国/地域Bosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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