TY - GEN
T1 - Bilateral Control under Time Delay by Using Adjustment of Equilibrium Acceleration
AU - Takenouchi, Tsukasa
AU - Murakami, Toshiyuki
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by JST-Mirai Program Grant Number JPMJMI18B5, Japan.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/18
Y1 - 2020/10/18
N2 - This paper aims to lower the operational force for bilateral control under time delay while guaranteeing stability. Bilateral teleoperation system enables humans to work in remote places. However, time delay on network impairs the stability and the performance. The conventional method has trade-off problem between stability and operationality. This paper introduces the concept of equilibrium acceleration, which includes both position and force information, and proposes a method to detect vibration based on the difference of equilibrium acceleration. As a result, the algorithm can be considered simply, and it is possible to stabilize only during vibration and improve the operationality in free motion. Since this paper does not focus on frequency, but vibration, damping control works only during vibration and the operational force can be reduced compared to the conventional method. The effectiveness of the proposed method is verified by simulations and experiments.
AB - This paper aims to lower the operational force for bilateral control under time delay while guaranteeing stability. Bilateral teleoperation system enables humans to work in remote places. However, time delay on network impairs the stability and the performance. The conventional method has trade-off problem between stability and operationality. This paper introduces the concept of equilibrium acceleration, which includes both position and force information, and proposes a method to detect vibration based on the difference of equilibrium acceleration. As a result, the algorithm can be considered simply, and it is possible to stabilize only during vibration and improve the operationality in free motion. Since this paper does not focus on frequency, but vibration, damping control works only during vibration and the operational force can be reduced compared to the conventional method. The effectiveness of the proposed method is verified by simulations and experiments.
KW - Bilateral control
KW - haptics
KW - motion control
KW - robotics
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=85097782631&partnerID=8YFLogxK
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U2 - 10.1109/IECON43393.2020.9254766
DO - 10.1109/IECON43393.2020.9254766
M3 - Conference contribution
AN - SCOPUS:85097782631
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 118
EP - 123
BT - Proceedings - IECON 2020
PB - IEEE Computer Society
T2 - 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Y2 - 19 October 2020 through 21 October 2020
ER -