Symmetric Operational Force Compensator for Bilateral Teleoperation under Time Delay Based on Power Flow Direction

Shuhei Shimmyo, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Conference contribution

抄録

This paper proposes an operational force reduction method for four-channel bilateral teleoperation under time delay. The four-channel bilateral control is an attractive way to realize a remote control with haptic sensation. In general, the haptic sensation deteriorates under the time delay in the four-channel bilateral teleoperation, e.g., operationality of the teleoperation, stability of the system, and other performances. To improve the operationality in free motion, a communication disturbance observer and a three-channel bilateral control have been proposed. Although the operational force in the free motion is reduced by these methods, the system becomes asymmetric. This means that the performance of the remote control from the slave side deteriorates in these methods. To overcome this problem, a novel symmetric compensator by using variable compliance control is proposed. A feedback gain is varied based on a power flow direction. The validity of the proposed method is confirmed by experimental results.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ700-705
ページ数6
ISBN(電子版)9781538669594
DOI
出版ステータスPublished - 2019 5 24
イベント2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
継続期間: 2019 3 182019 3 20

出版物シリーズ

名前Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
国/地域Germany
CityIlmenau
Period19/3/1819/3/20

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 自動車工学
  • 機械工学
  • 制御と最適化
  • 産業および生産工学

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