Motion canceling bilateral control with image-space observer in free-motion

Ko Okiyama, Toshiyuki Murakami

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Master-slave system with bilateral control is a key technology for the next generation robots. Since position and force information are transmitted bilaterally, operators can operate slave robots in remote places, and feel tactile sensation of remote environments. However, since the slave robot performs according to human operation, operational skills are required, and the workload is heavy. It is especially difficult to realize teleoperation when the target object moves in a remote place. Motion canceling bilateral control (MCBC), a method to synchronize motion of the slave robot and the target, can be one solution for this problem. The purpose of this research is to design MCBC controllers considering the zero-order hold (ZOH) effect caused by camera information. First, transparency of 4ch MCBC controller and 3ch MCBC controller are analyzed. Then, image-space observer (IOB) is introduced to the 3ch MCBC controller to enhance the performance. Simulation and experiment are conducted to verify the validity of the proposed method.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ542-547
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3 142014 3 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント 「Motion canceling bilateral control with image-space observer in free-motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル