Transparency analysis of motion canceling bilateral control under sensing constraints

Yu Nakajima, Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This system helps the operator by taking a task and reduces his/her workload. Unfortunately, the transparency is deteriorated due to the operational force caused by a dynamic motion of the target. This effect is caused by the discreteness and a delay in external sensors essential for MCBC. However, the relationships between the transparency and those sensing constraints were not clarified yet. Therefore in this research, the frequency characteristics of the transparency for the MCBC are analyzed in the following three basis: type of holds, sampling period, and stiffness of the target. The analytical results suggested following three behaviors in the transparency of the MCBC. A first order hold showed better performance compared with a zero order hold, but it has a peak gain near the Nyquist frequency Shorter sampling period improves the performance Contacting hard target deteriorate the performance The validity of analysis was verified by the experimental results.

本文言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版ステータスPublished - 2012 6月 4
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3月 252012 3月 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
国/地域Bosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 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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