Mutual Impedance-Based Force/Velocity Transmission Improvement for Bilateral Teleoperation

Kosuke Shikata; Seiichiro Katsura

doi:10.1016/j.ifacol.2023.10.712

Mutual Impedance-Based Force/Velocity Transmission Improvement for Bilateral Teleoperation

Kosuke Shikata, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Tackling communication delays attracts interest in improving the stability and transparency of bilateral teleoperation. This study presents a novel concept; mutual impedance. Under the delays, this impedance is intrinsic in four-channel acceleration-based bilateral control (4ch ABC). In 4ch ABC, wave propagations can characterize the transmissions of force and velocity, which are described in distributed-parameter systems. The delays induce interference between applied force and velocity response and decrease transparency. The mutual relationship between force and position controllers can explain the interference. The proposed mutual impedance is the indicator of the impact of the relationship. This study notes that the impedance comprises a ratio of force and position controllers. Thus, a force proportional-integral (PI) controller with a gain constraint between the position controller is introduced. One-degree-of-freedom (1-DOF) motion experiments compare the proposed method with conventional methods in superiority. The applicability of the proposed approach to delay fluctuations and multi-DOF motion is verified through 3-DOF manipulators.

Original language	English
Title of host publication	IFAC-PapersOnLine
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier B.V.
Pages	9992-9997
Number of pages	6
Edition	2
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.712
Publication status	Published - 2023 Jul 1
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 2023 Jul 9 → 2023 Jul 14

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	23/7/9 → 23/7/14

Keywords

Distributed parameter systems
Motion control systems
Networked robotic system modeling and control
Telepresence
Time-delay systems

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1016/j.ifacol.2023.10.712

Cite this

Mutual Impedance-Based Force/Velocity Transmission Improvement for Bilateral Teleoperation. / Shikata, Kosuke; Katsura, Seiichiro.
IFAC-PapersOnLine. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. 2. ed. Elsevier B.V., 2023. p. 9992-9997 (IFAC-PapersOnLine; Vol. 56, No. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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abstract = "Tackling communication delays attracts interest in improving the stability and transparency of bilateral teleoperation. This study presents a novel concept; mutual impedance. Under the delays, this impedance is intrinsic in four-channel acceleration-based bilateral control (4ch ABC). In 4ch ABC, wave propagations can characterize the transmissions of force and velocity, which are described in distributed-parameter systems. The delays induce interference between applied force and velocity response and decrease transparency. The mutual relationship between force and position controllers can explain the interference. The proposed mutual impedance is the indicator of the impact of the relationship. This study notes that the impedance comprises a ratio of force and position controllers. Thus, a force proportional-integral (PI) controller with a gain constraint between the position controller is introduced. One-degree-of-freedom (1-DOF) motion experiments compare the proposed method with conventional methods in superiority. The applicability of the proposed approach to delay fluctuations and multi-DOF motion is verified through 3-DOF manipulators.",

keywords = "Distributed parameter systems, Motion control systems, Networked robotic system modeling and control, Telepresence, Time-delay systems",

author = "Kosuke Shikata and Seiichiro Katsura",

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AB - Tackling communication delays attracts interest in improving the stability and transparency of bilateral teleoperation. This study presents a novel concept; mutual impedance. Under the delays, this impedance is intrinsic in four-channel acceleration-based bilateral control (4ch ABC). In 4ch ABC, wave propagations can characterize the transmissions of force and velocity, which are described in distributed-parameter systems. The delays induce interference between applied force and velocity response and decrease transparency. The mutual relationship between force and position controllers can explain the interference. The proposed mutual impedance is the indicator of the impact of the relationship. This study notes that the impedance comprises a ratio of force and position controllers. Thus, a force proportional-integral (PI) controller with a gain constraint between the position controller is introduced. One-degree-of-freedom (1-DOF) motion experiments compare the proposed method with conventional methods in superiority. The applicability of the proposed approach to delay fluctuations and multi-DOF motion is verified through 3-DOF manipulators.

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Mutual Impedance-Based Force/Velocity Transmission Improvement for Bilateral Teleoperation

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