TY - GEN
T1 - Evaluation of maneuverability in teleoperation based on operational effort
AU - Yamamuro, Akihiko
AU - Tanida, Kazuki
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases the operational force and deteriorates a operational ease. However, the deterioration of the operational ease can't be evaluated because there is no index until now. This paper proposed maneuverability as a new index of operational ease in teleoperation. Maneuverability is evaluated based on operational effort. By using this index, the appropriate teleoperation system can be determined in view of operational ease. Then, frequency domain dimensional scaling bilateral control (FDDBC) is designed to reduce operational effort. 5 types of control method including FDDBC are compared by using maneuverbility and the effectiveness of the proposed index is verified through the experiments.
AB - In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases the operational force and deteriorates a operational ease. However, the deterioration of the operational ease can't be evaluated because there is no index until now. This paper proposed maneuverability as a new index of operational ease in teleoperation. Maneuverability is evaluated based on operational effort. By using this index, the appropriate teleoperation system can be determined in view of operational ease. Then, frequency domain dimensional scaling bilateral control (FDDBC) is designed to reduce operational effort. 5 types of control method including FDDBC are compared by using maneuverbility and the effectiveness of the proposed index is verified through the experiments.
KW - bilateral control
KW - haptic information
KW - maneuverability
KW - master-slave system
KW - mobile robot
KW - teleoperation
UR - http://www.scopus.com/inward/record.url?scp=84949505642&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84949505642&partnerID=8YFLogxK
U2 - 10.1109/INDIN.2015.7281758
DO - 10.1109/INDIN.2015.7281758
M3 - Conference contribution
AN - SCOPUS:84949505642
T3 - Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
SP - 343
EP - 348
BT - Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Industrial Informatics, INDIN 2015
Y2 - 22 July 2015 through 24 July 2015
ER -