Impedance shaping based on bilateral control in teleoperation system

Hideyuki Kobayashi, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

Nowadays, teleoperation is utilized in many areas such as medical care and space exploration. Teleoperation system enables an operator to undertake precise work in such inaccessible or hazardous environment. In bilateral teleoperation, the transmission of force sensation is important. In other words, the impedance transmitted to an operator should be equal to environmental impedance. That is the goal of bilateral teleoperation and defined as transparency. Also, it is possible to alter force sensation by using bilateral control. This idea is valuable when the characteristics of task impedance are different from those of human world, such as micro world. In case of telemanipulating the objects which are in the place where the characteristics are different from those in human world, work performance would be improved if an operator can manipulate the objects as they are in human world. In this paper, we propose the impedance shaping based on bilateral control. The validity and stability of the proposed control system is demonstrated theoretically and experimentally.

元の言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ818-823
ページ数6
DOI
出版物ステータスPublished - 2006 12 1
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12 152006 12 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
India
Mumbai
期間06/12/1506/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • これを引用

    Kobayashi, H., & Ohnishi, K. (2006). Impedance shaping based on bilateral control in teleoperation system. : 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 818-823). [4237646] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372324