TY - GEN
T1 - Symmetric Operational Force Compensator for Bilateral Teleoperation under Time Delay Based on Power Flow Direction
AU - Shimmyo, Shuhei
AU - Saito, Yuki
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - 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.
AB - 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.
KW - bilateral control
KW - haptics
KW - power flow
KW - symmetric compensator
KW - time delay
KW - variable compliance control
UR - http://www.scopus.com/inward/record.url?scp=85067102958&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85067102958&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2019.8722913
DO - 10.1109/ICMECH.2019.8722913
M3 - Conference contribution
AN - SCOPUS:85067102958
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 700
EP - 705
BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -