TY - GEN
T1 - Automatically-Tuned Damping Injection for Stable Bilateral Control under Time Delay
AU - Hangai, Satoshi
AU - Nozaki, Takahiro
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Encouragement of Young Scientists (A), 16H06079, 2016.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - Bilateral control is one of the methods to realize a teleoperation with force feedback. However, communication time delay seriously deteriorates operationality and stability of bilateral control. Although 3-channel bilateral control has been proposed to improve operationality, the system becomes unstable in contact motion. Damping injection is an effective method to stabilize the contact motion by producing viscous force. However, this method produces large operational force and deteriorates operationality. Many researchers tried to inject damping without deteriorating operationality. However, their methods are affected by several situations/factors such as delay time or operator's motion speed. As a result, their methods require a redesigning procedure in order to deal with such situations/factors. In this paper, automatically-tuned damping injection is proposed to stabilize the contact motion in 3-channel bilateral control. In the proposed method, damping gain is automatically determined by monitoring the Lyapunov stability of the force control. The effectiveness of the proposed method is verified by experiments.
AB - Bilateral control is one of the methods to realize a teleoperation with force feedback. However, communication time delay seriously deteriorates operationality and stability of bilateral control. Although 3-channel bilateral control has been proposed to improve operationality, the system becomes unstable in contact motion. Damping injection is an effective method to stabilize the contact motion by producing viscous force. However, this method produces large operational force and deteriorates operationality. Many researchers tried to inject damping without deteriorating operationality. However, their methods are affected by several situations/factors such as delay time or operator's motion speed. As a result, their methods require a redesigning procedure in order to deal with such situations/factors. In this paper, automatically-tuned damping injection is proposed to stabilize the contact motion in 3-channel bilateral control. In the proposed method, damping gain is automatically determined by monitoring the Lyapunov stability of the force control. The effectiveness of the proposed method is verified by experiments.
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U2 - 10.1109/ICMECH.2019.8722879
DO - 10.1109/ICMECH.2019.8722879
M3 - Conference contribution
AN - SCOPUS:85067121985
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 667
EP - 672
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 -