TY - GEN
T1 - Bilateral control with local force feedback for delay-free teleoperation
AU - Ishii, Takumi
AU - Katsura, Seiichiro
PY - 2012
Y1 - 2012
N2 - Bilateral teleoperation system through network is negatively affected to stability by communication delay. In this paper, bilateral teleoperation system is researched toward a delay free bilateral teleoperation. By using 2ch bilateral control which is transmitting and controlling only positions, the stability of bilateral teleoperation system is enhanced. However, the bilateral teleoperation controlling only position increases force needed to operate master system. So, the operationality comes down, and teleoperation becomes difficult. Therefore, in order to enhance the operationality, local force feedback loop is added, and external force is controlled to 0. So, the proposed method enhances the stability while keeping good operationality. As a result, it turns out that the bilateral control system can enhance the performance of communication delay by reducing connectability of master and slave.
AB - Bilateral teleoperation system through network is negatively affected to stability by communication delay. In this paper, bilateral teleoperation system is researched toward a delay free bilateral teleoperation. By using 2ch bilateral control which is transmitting and controlling only positions, the stability of bilateral teleoperation system is enhanced. However, the bilateral teleoperation controlling only position increases force needed to operate master system. So, the operationality comes down, and teleoperation becomes difficult. Therefore, in order to enhance the operationality, local force feedback loop is added, and external force is controlled to 0. So, the proposed method enhances the stability while keeping good operationality. As a result, it turns out that the bilateral control system can enhance the performance of communication delay by reducing connectability of master and slave.
UR - http://www.scopus.com/inward/record.url?scp=84861596973&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2012.6197100
DO - 10.1109/AMC.2012.6197100
M3 - Conference contribution
AN - SCOPUS:84861596973
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -