Damping injection using position-based contact detection for bilateral control system under time delay

Shuhei Shimizu; Yoshiki Ohno; Kouhei Ohnishi

doi:10.1109/ICMECH.2015.7084039

Damping injection using position-based contact detection for bilateral control system under time delay

Shuhei Shimizu, Yoshiki Ohno, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.

本文言語	English
ホスト出版物のタイトル	Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	568-573
ページ数	6
ISBN（電子版）	9781479936335
DOI	https://doi.org/10.1109/ICMECH.2015.7084039
出版ステータス	Published - 2015 4月 9
外部発表	はい
イベント	2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan 継続期間: 2015 3月 6 → 2015 3月 8

出版物シリーズ

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

Other

Other	2015 IEEE International Conference on Mechatronics, ICM 2015
国/地域	Japan
City	Nagoya
Period	15/3/6 → 15/3/8

ASJC Scopus subject areas

電子工学および電気工学
機械工学

文献へのアクセス

10.1109/ICMECH.2015.7084039

他のファイルとリンク

引用スタイル

Shimizu, S., Ohno, Y., & Ohnishi, K. (2015). Damping injection using position-based contact detection for bilateral control system under time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 568-573). [7084039] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084039

Damping injection using position-based contact detection for bilateral control system under time delay. / Shimizu, Shuhei; Ohno, Yoshiki; Ohnishi, Kouhei.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 568-573 7084039 (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015).

研究成果: Conference contribution

Shimizu, S, Ohno, Y & Ohnishi, K 2015, Damping injection using position-based contact detection for bilateral control system under time delay. in Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084039, Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015, Institute of Electrical and Electronics Engineers Inc., pp. 568-573, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084039

Shimizu S, Ohno Y, Ohnishi K. Damping injection using position-based contact detection for bilateral control system under time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 568-573. 7084039. (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). https://doi.org/10.1109/ICMECH.2015.7084039

Shimizu, Shuhei ; Ohno, Yoshiki ; Ohnishi, Kouhei. / Damping injection using position-based contact detection for bilateral control system under time delay. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 568-573 (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015).

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title = "Damping injection using position-based contact detection for bilateral control system under time delay",

abstract = "In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.",

keywords = "bilateral control, damping injection, haptics, operationality, time delay",

author = "Shuhei Shimizu and Yoshiki Ohno and Kouhei Ohnishi",

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N2 - In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.

AB - In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some experiments.

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KW - haptics

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

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Damping injection using position-based contact detection for bilateral control system under time delay

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