TY - GEN
T1 - Admittance control-based bilateral control system considering position error
AU - Kimura, Shuhei
AU - Nozaki, Takahiro
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/7
Y1 - 2021/3/7
N2 - This paper proposes a bilateral control system implementing an admittance control system. Bilateral control system realizes teleoperation of a remote robot with a sense of touch. We focus on an admittance-based bilateral control system, which needs only two communication channels and has almost the same control performance as an acceleration-based bilateral control system, which is one of the highest transparent teleoperation systems. However, the conventional admittance-based system assumes an ideal communication situation where there is no communication time delay and no packet loss and has possible to increase position error as time goes on in practical use. The proposed admittance-based system achieves the same control performance as the conventional structure without increasing position error even if there is a communication delay. The validity of the proposed system is confirmed through simulations and experiments.
AB - This paper proposes a bilateral control system implementing an admittance control system. Bilateral control system realizes teleoperation of a remote robot with a sense of touch. We focus on an admittance-based bilateral control system, which needs only two communication channels and has almost the same control performance as an acceleration-based bilateral control system, which is one of the highest transparent teleoperation systems. However, the conventional admittance-based system assumes an ideal communication situation where there is no communication time delay and no packet loss and has possible to increase position error as time goes on in practical use. The proposed admittance-based system achieves the same control performance as the conventional structure without increasing position error even if there is a communication delay. The validity of the proposed system is confirmed through simulations and experiments.
KW - Acceleration control
KW - Admittance control
KW - Bilateral control
KW - Force control
KW - Hybrid control
UR - http://www.scopus.com/inward/record.url?scp=85104152508&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85104152508&partnerID=8YFLogxK
U2 - 10.1109/ICM46511.2021.9385683
DO - 10.1109/ICM46511.2021.9385683
M3 - Conference contribution
AN - SCOPUS:85104152508
T3 - 2021 IEEE International Conference on Mechatronics, ICM 2021
BT - 2021 IEEE International Conference on Mechatronics, ICM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Mechatronics, ICM 2021
Y2 - 7 March 2021 through 9 March 2021
ER -