TY - GEN
T1 - Analysis and compensation of operational force in bilateral control systems under time-varying delay
AU - Ohno, Yoshiki
AU - Yoshimura, Nobuto
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore, if the time delay is time-varying, operator feels uncomfortable scratchy sensation in addition to the operational force. Therefore, this paper proposes a method to compensate the effect of time-varying delay in 4-channel bilateral control systems. First, it is cleared that the scratchy feeling can be regarded as high frequency communicative operational force and that it can be calculated in real time quantitatively. Then, elimination method for the scratchy feeling is proposed from the view of operational force. Proposed method can compensate only the effect of delay variation without any delay time model. The validities of proposed methods are verified by some experiments.
AB - This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore, if the time delay is time-varying, operator feels uncomfortable scratchy sensation in addition to the operational force. Therefore, this paper proposes a method to compensate the effect of time-varying delay in 4-channel bilateral control systems. First, it is cleared that the scratchy feeling can be regarded as high frequency communicative operational force and that it can be calculated in real time quantitatively. Then, elimination method for the scratchy feeling is proposed from the view of operational force. Proposed method can compensate only the effect of delay variation without any delay time model. The validities of proposed methods are verified by some experiments.
KW - bilateral control
KW - haptics
KW - network
KW - operational force
KW - operationality
KW - time delay compensation
KW - time-varying delay
UR - http://www.scopus.com/inward/record.url?scp=84929377922&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929377922&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7083961
DO - 10.1109/ICMECH.2015.7083961
M3 - Conference contribution
AN - SCOPUS:84929377922
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 132
EP - 137
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -