Operational force reduction method in bilateral control system and evaluation under time delay

Shuhei Shimizu, Yoshiki Ohno, Kouhei Ohnishi

研究成果: Conference contribution

抄録

Bilateral control is the control technology transmitting the sense of the force to the remote area by using master robot and slave robot. In this control system, it is desirable for operational force to be small. If there is large operational force, it is difficult to recognize stiffness of the remote object, because differences between the contact force and the operational force come small. In addition, under the real situation, transmittable information may be limited. To solve these problems, in this paper, the operational force reduction method in bilateral control by acceleration model addition is proposed. This method reduces the operational force for manipulating master robot without imposing load on the network. Furthermore, instability can be avoided by using low-pass filter. At first, equations are assembled to reduce the operational force by using hybrid parameters. Afterwards, the validity of the proposed method is confirmed in simulations. Moreover, the time delay response, which is a new evaluation index, is introduced and the effectiveness of the proposed method is verified in time delay system. At last, the effectiveness of the proposal is shown in experiments by using actual robots.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4787-4792
ページ数6
ISBN(印刷版)9781479940325
DOI
出版ステータスPublished - 2014 2月 24
イベント40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
継続期間: 2014 10月 302014 11月 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
国/地域United States
CityDallas
Period14/10/3014/11/1

ASJC Scopus subject areas

  • 電子工学および電気工学

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