TY - GEN
T1 - Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay
AU - Okano, Toshiaki
AU - Ohnishi, Kouhei
AU - Murakami, Toshiyuki
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported in part by KEIRIN JKA(2017M-138). This research presentation was supported in part by a research assistantship of a Grant-in-Aid to the Program for Leading Graduate School for “ Science for Development of Super Mature Society ” from Keio University, Japan.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - Teleoperation gets a significant attention from the society, and 4ch bilateral control is known as a method to realize the haptics transmission. Its controller is able to achieve the rich haptics transmission, but the performance is degraded under the presence of time-delay due to the interference between the position and force controllers. In particular, its interference becomes larger when position and force scaling are set more than 1 and the mass difference between the master and slave is large. 3ch architecture has proposed to tackle with the performance deterioration when the position and force scaling are set more than 1, but no researches have conducted for considering both the scaling and mass difference. This paper considers the situation that the scaling are set and the mass difference is existed in addition to the time-delay. Oblique coordinate control is utilized, and the superiority of 4ch and 3ch architectures are discussed. The proposal takes the superiority of these two architectures, and its effectiveness was verified through simulations and experiments.
AB - Teleoperation gets a significant attention from the society, and 4ch bilateral control is known as a method to realize the haptics transmission. Its controller is able to achieve the rich haptics transmission, but the performance is degraded under the presence of time-delay due to the interference between the position and force controllers. In particular, its interference becomes larger when position and force scaling are set more than 1 and the mass difference between the master and slave is large. 3ch architecture has proposed to tackle with the performance deterioration when the position and force scaling are set more than 1, but no researches have conducted for considering both the scaling and mass difference. This paper considers the situation that the scaling are set and the mass difference is existed in addition to the time-delay. Oblique coordinate control is utilized, and the superiority of 4ch and 3ch architectures are discussed. The proposal takes the superiority of these two architectures, and its effectiveness was verified through simulations and experiments.
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U2 - 10.1109/ICMECH.2019.8722884
DO - 10.1109/ICMECH.2019.8722884
M3 - Conference contribution
AN - SCOPUS:85067108176
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 249
EP - 254
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 -