Force-based control scheme for stable contact motion in time-delayed teleoperation

Nobuto Yoshimura, Yoshiki Ohno, Kouhei Ohnishi

研究成果: Paper査読

抄録

In this paper, force-based control scheme for stable contact motion is proposed. In recent days, haptics is one of major topics in robotics field. Especially teleoperation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. Some conventional approaches tried to compensate delay of position by using compensator, however degrading of contact stability is not mentioned sufficiently. And conventional approach using some compensator degrade adaptability for target object. From this point of view, this paper aims to keep adaptability and improve contact stability in time delayed teleoperation.

本文言語English
ページ265-270
ページ数6
DOI
出版ステータスPublished - 2015 6月 16
イベント2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
継続期間: 2015 3月 172015 3月 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
国/地域Spain
CitySeville
Period15/3/1715/3/19

ASJC Scopus subject areas

  • 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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