Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496385
L. H. Nam, Loulin Huang, Xue Jun Li, Jianfeng Xu
In this paper, an offline flight planner that computes an efficient coverage trajectory for a quad-rotors UAV is presented. The planner consists of three steps: mission definition, automatic path planning and trajectory generation. The proposed planner, as a useful tool, allows an UAV operator to easily define and generate a coverage trajectory for any specific task. The resultant trajectory can be dispatched to a quad-rotors with trajectory tracking controller for the missions that require a complete area coverage.
{"title":"An approach for coverage path planning for UAVs","authors":"L. H. Nam, Loulin Huang, Xue Jun Li, Jianfeng Xu","doi":"10.1109/AMC.2016.7496385","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496385","url":null,"abstract":"In this paper, an offline flight planner that computes an efficient coverage trajectory for a quad-rotors UAV is presented. The planner consists of three steps: mission definition, automatic path planning and trajectory generation. The proposed planner, as a useful tool, allows an UAV operator to easily define and generate a coverage trajectory for any specific task. The resultant trajectory can be dispatched to a quad-rotors with trajectory tracking controller for the missions that require a complete area coverage.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116141801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496386
Soudai Tanaka, T. Mizoguchi, Y. Asano, T. Shimono
This paper proposes a motion control method for a remote-controlled vehicle with an accelerator pedal by mixing two types of bilateral control, namely, transformer-type bilateral control and gyrator-type bilateral control. Transformer-type bilateral control has a function to satisfy haptic transmission between the master and slave. However, it has a weakness that the position control limits the movable range of the slave to that of the master in a master-slave system with different configurations. On the other hand, gyrator-type bilateral control has a function that synchronizes the velocity of the one side to the force of the other side. Nevertheless, it has a property that the master and slave position are not controlled. In this paper, the mobile robot is the slave and the pedal robot is the master. The proposed method utilizes the function of gyrator-type bilateral control in differential modal space to couple the tread torque on the pedal to the velocity of the mobile robot. This resolves the restriction on the movable range of the pedal. Simultaneously, a property of transformer-type bilateral control is utilized in common modal space in order to achieve force-based compliance control for the pedal and a feedback of the force information from the mobile robot to the pedal.
{"title":"Transformer-gyrator-mixed bilateral control for mobile robot","authors":"Soudai Tanaka, T. Mizoguchi, Y. Asano, T. Shimono","doi":"10.1109/AMC.2016.7496386","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496386","url":null,"abstract":"This paper proposes a motion control method for a remote-controlled vehicle with an accelerator pedal by mixing two types of bilateral control, namely, transformer-type bilateral control and gyrator-type bilateral control. Transformer-type bilateral control has a function to satisfy haptic transmission between the master and slave. However, it has a weakness that the position control limits the movable range of the slave to that of the master in a master-slave system with different configurations. On the other hand, gyrator-type bilateral control has a function that synchronizes the velocity of the one side to the force of the other side. Nevertheless, it has a property that the master and slave position are not controlled. In this paper, the mobile robot is the slave and the pedal robot is the master. The proposed method utilizes the function of gyrator-type bilateral control in differential modal space to couple the tread torque on the pedal to the velocity of the mobile robot. This resolves the restriction on the movable range of the pedal. Simultaneously, a property of transformer-type bilateral control is utilized in common modal space in order to achieve force-based compliance control for the pedal and a feedback of the force information from the mobile robot to the pedal.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125589116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496361
M. Beckerleg, Chan Zhang
This paper demonstrates how individual and collective behaviours of robots can be evolved using a novel technique of applying a genetic algorithm on a lookup table based chromosome. The evolved behaviours are: orbiting a stationary robot; navigation between three robots; follow the leader using six robots; and robot dispersal where the robots move away from each other. These behaviours are based on those used by Harvard University when demonstrating some of the collective behaviours that can be implemented by the Kilobot robot. With careful selection of the lookup tables and fitness functions all the above behaviours can be successfully evolved.
{"title":"Evolving individual and collective behaviours for the Kilobot robot","authors":"M. Beckerleg, Chan Zhang","doi":"10.1109/AMC.2016.7496361","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496361","url":null,"abstract":"This paper demonstrates how individual and collective behaviours of robots can be evolved using a novel technique of applying a genetic algorithm on a lookup table based chromosome. The evolved behaviours are: orbiting a stationary robot; navigation between three robots; follow the leader using six robots; and robot dispersal where the robots move away from each other. These behaviours are based on those used by Harvard University when demonstrating some of the collective behaviours that can be implemented by the Kilobot robot. With careful selection of the lookup tables and fitness functions all the above behaviours can be successfully evolved.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124994435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496367
Luc Xuan Tu Phung, I. Sharf, B. Beckman
In this paper, we present a leader-follower controller for the Micro-Hydraulic Toolkit (MHT), a skid-steering wheel-legged robot designed by Defence Research and Development Canada - Suffield Research Centre. The objective of the controller is to maneuver the MHT towards a desired position with respect to a designated leader. Using the range and bearing of the leader from the robot, the leader-follower controller computes the desired wheel velocities of the MHT to achieve leader-follower formation control. In addition to performing wheeled locomotion to follow the leader, the MHT is capable of using its legs to reconfigure its posture. Thus, moving beyond standard implementations, the leader-follower control strategy presented in this paper is combined with a velocity-based inverse kinematics controller developed in previous work to control the posture of the MHT during leader-follower maneuvers. The results of the leader-follower scenarios implemented in simulation and on the physical MHT demonstrate the robot's ability to execute leader-follower formation control and posture control simultaneously, adding to the versatility of the vehicle to negotiate uneven terrains.
{"title":"Implementation of a leader-follower controller for a skid-steering wheel-legged robot","authors":"Luc Xuan Tu Phung, I. Sharf, B. Beckman","doi":"10.1109/AMC.2016.7496367","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496367","url":null,"abstract":"In this paper, we present a leader-follower controller for the Micro-Hydraulic Toolkit (MHT), a skid-steering wheel-legged robot designed by Defence Research and Development Canada - Suffield Research Centre. The objective of the controller is to maneuver the MHT towards a desired position with respect to a designated leader. Using the range and bearing of the leader from the robot, the leader-follower controller computes the desired wheel velocities of the MHT to achieve leader-follower formation control. In addition to performing wheeled locomotion to follow the leader, the MHT is capable of using its legs to reconfigure its posture. Thus, moving beyond standard implementations, the leader-follower control strategy presented in this paper is combined with a velocity-based inverse kinematics controller developed in previous work to control the posture of the MHT during leader-follower maneuvers. The results of the leader-follower scenarios implemented in simulation and on the physical MHT demonstrate the robot's ability to execute leader-follower formation control and posture control simultaneously, adding to the versatility of the vehicle to negotiate uneven terrains.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125064499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496394
T. Matsunaga, K. Ohnishi
This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.
{"title":"Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot","authors":"T. Matsunaga, K. Ohnishi","doi":"10.1109/AMC.2016.7496394","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496394","url":null,"abstract":"This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123470352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496334
Yu Dang, Hong Wang, Weiliang Xu
The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.
{"title":"Calibration of iRobot create using UMBmark","authors":"Yu Dang, Hong Wang, Weiliang Xu","doi":"10.1109/AMC.2016.7496334","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496334","url":null,"abstract":"The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"726 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116983106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496381
T. Nozaki, T. Murakami, T. Shimono, K. Ohnishi, R. Oboe
The objective of this research is to develop a meal assistance device for patients, who lost the ability to move their own body except for the head and the neck due to disease, accidents, congenital factors, and aging. Main problems of existing conventional devices are “cost”, “size”, “complexity”, “appearance”, and “feeling of alive”. This paper tackles the above problems and explains structure of the developed device for meal assistance. The newly developed meal assistance device was made by 3D printers for cheap price and customizable. The developed assistance device has two degrees of freedom; translational motion for stab and rotational motion for bringing. In addition, the developed meal assistance device adopted a strategy of polar coordinate-based manual operation, which allows users to operate intuitively. The appearance of the developed device is not heavy compared with the conventional devices shaped like industrial robotic manipulators. Above mentioned features are important and gives competitive power especially in the medical care field requiring adaptation to individual demand. The developed meal assistance device succeeded to serve a meal toward the user's mouth in an experimental verification of a practical use.
{"title":"Development of meal assistance device for patients with spinal cord injury","authors":"T. Nozaki, T. Murakami, T. Shimono, K. Ohnishi, R. Oboe","doi":"10.1109/AMC.2016.7496381","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496381","url":null,"abstract":"The objective of this research is to develop a meal assistance device for patients, who lost the ability to move their own body except for the head and the neck due to disease, accidents, congenital factors, and aging. Main problems of existing conventional devices are “cost”, “size”, “complexity”, “appearance”, and “feeling of alive”. This paper tackles the above problems and explains structure of the developed device for meal assistance. The newly developed meal assistance device was made by 3D printers for cheap price and customizable. The developed assistance device has two degrees of freedom; translational motion for stab and rotational motion for bringing. In addition, the developed meal assistance device adopted a strategy of polar coordinate-based manual operation, which allows users to operate intuitively. The appearance of the developed device is not heavy compared with the conventional devices shaped like industrial robotic manipulators. Above mentioned features are important and gives competitive power especially in the medical care field requiring adaptation to individual demand. The developed meal assistance device succeeded to serve a meal toward the user's mouth in an experimental verification of a practical use.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"389 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129008977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496333
Akinori Yabuki, K. Ohishi, T. Miyazaki, Y. Yokokura
To achieve force control of an industrial robot, this paper proposes an I-PD force control system based on an instantaneous state observer. The structure of the proposed system is based on a resonance ratio control system and a feedback signal of the reaction force response. In this paper, the gain of a pseudo derivation is designed as the feedback gain. From the results of the designed gains, the feedback gain Kf is a negative value. Hence, the resonance ratio control system becomes equivalent to a state feedback. For the stability of the proposed I-PD force control system based on the acceleration control system and a state feedback, a new analysis method is required. This paper analyzes an open-loop of the proposed system considering the bandwidth of the observer. The results of an analysis show that an observer with a wide bandwidth is required. Therefore, the parameters of proposed system using the instantaneous state observer are designed based on the coefficient diagram method. The effectiveness of the proposed method is confirmed by performing numerical simulations based on the model of an industrial robot arm. The results show that the proposed method is effective for the stable force control of an industrial robot arm.
{"title":"Design method of I-PD force control system based on instantaneous state observer for industrial robot","authors":"Akinori Yabuki, K. Ohishi, T. Miyazaki, Y. Yokokura","doi":"10.1109/AMC.2016.7496333","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496333","url":null,"abstract":"To achieve force control of an industrial robot, this paper proposes an I-PD force control system based on an instantaneous state observer. The structure of the proposed system is based on a resonance ratio control system and a feedback signal of the reaction force response. In this paper, the gain of a pseudo derivation is designed as the feedback gain. From the results of the designed gains, the feedback gain Kf is a negative value. Hence, the resonance ratio control system becomes equivalent to a state feedback. For the stability of the proposed I-PD force control system based on the acceleration control system and a state feedback, a new analysis method is required. This paper analyzes an open-loop of the proposed system considering the bandwidth of the observer. The results of an analysis show that an observer with a wide bandwidth is required. Therefore, the parameters of proposed system using the instantaneous state observer are designed based on the coefficient diagram method. The effectiveness of the proposed method is confirmed by performing numerical simulations based on the model of an industrial robot arm. The results show that the proposed method is effective for the stable force control of an industrial robot arm.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132758236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496362
Shuhei Shimmyo, K. Yuuki, K. Ohnishi
This paper discusses multi-level motor drives to suppress torque ripples of brushless DC motors (BLDC) with an adaptive dead-time compensation. Traditionally, BLDCs are widely driven by two-level inverters, and they are driven by the pulse-width modulation (PWM). Although high switching frequencies can reduce current ripples by the switching, voltage errors caused by dead-times become large; there are trade-off relationships. In our previous study, it was revealed that multi-level inverters could reduce distortions of torques at optimal frequencies. In addition, voltage errors caused by dead-times can be compensated by using a feedforward compensation or a disturbance observer (DOB). Since modeling errors are remained even if designers manage to tune parameters, perfect compensations are difficult in feedforward compensations. In disturbance observers, although offset values of voltage errors can be compensated perfectly, it is impossible to compensate 6k-th order components. In this paper, an adaptive dead-time compensation is applied for multi-level inverters. Here, a value of a voltage error is estimated by using an observer, and it is used to calculate an adaptive feedforward value. The validity of proposed system is confirmed by simulation and experiments.
{"title":"Multi-level motor drives to eliminate torque ripple with adaptive dead-time compensation","authors":"Shuhei Shimmyo, K. Yuuki, K. Ohnishi","doi":"10.1109/AMC.2016.7496362","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496362","url":null,"abstract":"This paper discusses multi-level motor drives to suppress torque ripples of brushless DC motors (BLDC) with an adaptive dead-time compensation. Traditionally, BLDCs are widely driven by two-level inverters, and they are driven by the pulse-width modulation (PWM). Although high switching frequencies can reduce current ripples by the switching, voltage errors caused by dead-times become large; there are trade-off relationships. In our previous study, it was revealed that multi-level inverters could reduce distortions of torques at optimal frequencies. In addition, voltage errors caused by dead-times can be compensated by using a feedforward compensation or a disturbance observer (DOB). Since modeling errors are remained even if designers manage to tune parameters, perfect compensations are difficult in feedforward compensations. In disturbance observers, although offset values of voltage errors can be compensated perfectly, it is impossible to compensate 6k-th order components. In this paper, an adaptive dead-time compensation is applied for multi-level inverters. Here, a value of a voltage error is estimated by using an observer, and it is used to calculate an adaptive feedforward value. The validity of proposed system is confirmed by simulation and experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128034110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496342
H. Sakai, K. Ohnishi
This paper proposes a novel control architecture for bilateral teleoperation with time delay. The proposed bilateral teleoperation system has transparency under the presence of time delay. The conventional bilateral teleoperation system cannot have transparency under time delay because the control goals are not clear and inappropriate in the presence of time delay. The proposed method utilizes the position information and the force information of both the master and the slave, and also uses the round trip position and force information. In the proposed method, there are two kinds of structure. The one is Position-Force architecture (P-F architecture), and the other is Force-Position architecture (F-P architecture). These methods achieve a high level of transparency but poorer stability than conventional methods. Therefore, this paper introduces the damping injection, which is famous stabilizing method, into the system to stabilize the system, and analyzes the stability condition of the proposed method without/with damping. The effectiveness of the proposed method is validated experimentally.
{"title":"Transparency-optimized bilateral teleoperation based on acceleration control in the presence of time delay","authors":"H. Sakai, K. Ohnishi","doi":"10.1109/AMC.2016.7496342","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496342","url":null,"abstract":"This paper proposes a novel control architecture for bilateral teleoperation with time delay. The proposed bilateral teleoperation system has transparency under the presence of time delay. The conventional bilateral teleoperation system cannot have transparency under time delay because the control goals are not clear and inappropriate in the presence of time delay. The proposed method utilizes the position information and the force information of both the master and the slave, and also uses the round trip position and force information. In the proposed method, there are two kinds of structure. The one is Position-Force architecture (P-F architecture), and the other is Force-Position architecture (F-P architecture). These methods achieve a high level of transparency but poorer stability than conventional methods. Therefore, this paper introduces the damping injection, which is famous stabilizing method, into the system to stabilize the system, and analyzes the stability condition of the proposed method without/with damping. The effectiveness of the proposed method is validated experimentally.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129068973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：