Power-based damping injection for bilateral control systems under time delay

Yoshiki Ohno, Nobuto Yoshimura, Kouhei Ohnishi

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

This paper proposes a novel method to improve the stability of time-delayed bilateral control systems. 3-channel bilateral control system is one of teleoperation systems with haptic feedback. It can transmit haptic sense without large operational force even under time delay. However, the stability of contact motion with hard environments is not ensured. Therefore, this paper proposes a new damping injection method based on power of mechanical systems. In this method, instantaneous power of master robot is observed every time and damping injection is performed only when the system becomes unstable. Then, proposed method can improve the stability of contact motion with keeping small operational force. Compared with conventional methods, it realizes nearly perfect operationality in free motion and the implementation is easy. The validity of the proposed method is verified by some experiments.

本文言語English
ページ423-428
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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