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.
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页数：6
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