Impedance Correction in Time Delayed Teleoperation System

被引：0
|
作者：
Mizoguchi, Takahiro [1 ]
Nozaki, Takahiro [1 ]
Ohnishi, Kouhei [2 ]
机构：
[1] Keio Univ, Grad Sch Sci & Engn, Yokohama, Kanagawa 223, Japan
[2] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 223, Japan
来源：
2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a method to correct operators haptic sense under time delay teleoperation system. In general, time delayed teleoperation system has problem in haptic sense transmission due to time delay difference between velocity and force at the operator side. Operator is likely to feel different haptic sense than remote object. This paper treats time delay as phase difference between force and velocity to treat such a problem. Correction force is generated based on phase characteristic in proposed method. Simulation and experiments are carried out to support the proposal.
引用
收藏
页数：6
相关论文
共 50 条
  • [31] PD Control for Teleoperation System with Delayed and Quantized Communication Channel
    Yang, Xian
    Hua, Changchun
    Yan, Jing
    Guan, Xinping
    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 2318 - 2323
  • [32] Control of a Delayed Teleoperation System Applying State Convergence Approach
    Tafur, Julio C.
    Garcia, Cecilia E.
    Aracil, Rafael
    Saltaren, Roque
    REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2014, 11 (04): : 406 - 416
  • [33] Impedance control with variable damping for bilateral teleoperation under time delay
    Cho, HC
    Park, JH
    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2005, 48 (04) : 695 - 703
  • [34] Series elastic actuation for improved transparency in time delayed haptic teleoperation
    Budolak, Daniel
    Ben-Tzvi, Pinhas
    MECHATRONICS, 2019, 63
  • [35] Transparency and stability of bilateral kinesthetic teleoperation with time-delayed communication
    Baier, H
    Schmidt, G
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2004, 40 (01) : 1 - 22
  • [36] Stable and Transparent Time-Delayed Teleoperation by Direct Acceleration Waves
    Yalcin, Baris
    Ohnishi, Kouhei
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2010, 57 (09) : 3228 - 3238
  • [37] Transparency of time delayed bilateral teleoperation systems with communication disturbance observer
    Natori, Kenji
    Kubo, Ryogo
    Ohnishi, Kouhei
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, 2007, : 335 - 340
  • [38] Transparent time-delayed bilateral teleoperation using wave variables
    Aziminejad, A.
    Tavakoli, M.
    Patel, R. V.
    Moallem, M.
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2008, 16 (03) : 548 - 555
  • [39] Transparent bilateral control for time-delayed teleoperation by state convergence
    Azorin, Jose M.
    Aracil, Rafael
    Perez, Carlos
    Garcia, Nicolas M.
    Sabater, Jose M.
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 643 - +
  • [40] Preliminary Study of Virtual Nonholonomic Constraints for Time-Delayed Teleoperation
    Vozar, Steve
    Chen, Zihan
    Kazanzides, Peter
    Whitcomb, Louis L.
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 4244 - 4250
12345