Power-based restoration of haptic teleoperation from communication blackout

Satoshi Hangai, Takahiro Nozaki

研究成果: Conference contribution

抄録

Recently, network-based control systems attract a lot of attentions. One of the applications of such control systems is haptic transmission using a bilateral control system. In order to construct the bilateral control system over the time delayed-network, many researchers have proposed many methods and succeeded to improve the stability and performance of the system. By assuring the system's passivity, some of conventional methods have succeeded to stabilize the system even when the communication blackout occurs. However, the passivity-based methods are conservative and deteriorate the performance. In this paper, the mode shifting method is proposed to deal with the communication blackout without considering the system's passivity. In the proposed method, the bilateral controller is shifted to a local controller when the communication blackout occurs. By shifting to the local controller, the system is not destabilized by the blackout. Moreover, when the communication recovers, the bilateral controller is gradually restored to regulate the robot's output power. Owing to the power regulation, the robots never damage environmental objects during and after the communication blackout. Therefore, the proposed method realizes stable and safe control even under the blackout. The validity of the proposed method is confirmed by simulations and a experiment.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE 17th International Conference on Industrial Informatics, INDIN 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ583-588
ページ数6
ISBN(電子版)9781728129273
DOI
出版ステータスPublished - 2019 7
イベント17th IEEE International Conference on Industrial Informatics, INDIN 2019 - Helsinki-Espoo, Finland
継続期間: 2019 7 222019 7 25

出版物シリーズ

名前IEEE International Conference on Industrial Informatics (INDIN)
2019-July
ISSN(印刷版)1935-4576

Conference

Conference17th IEEE International Conference on Industrial Informatics, INDIN 2019
CountryFinland
CityHelsinki-Espoo
Period19/7/2219/7/25

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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