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This paper proposes a method of scaling bilateral control in the presence of time delay in terms of modal space. The bilateral control is characterized by a remote control, which return force information to the local site. Also, the bilateral control enable us to achieve dexterous tasks such as microsurgery by scaling the force/position response freely. However, bilateral control system has a problem,...
Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation...
In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that the Voice Coil Motor (the VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. In addition, bilateral control between different degrees-of-freedom system is inspected to acquire clearer tactile sensation...
This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades...
Position error between master and slave occurs in bilateral control system under time delay and it is undesirable for delicate works. To solve this problem, this paper proposes a compensation method of position error in bilateral control under time delay. Firstly, the cause of position error is expressed. After that, it is shown that 3-channel bilateral control system, which is the conventional method,...
In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are...
This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force,...
Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction...
Time delay in bilateral control system seriously deteriorates stability. Conventional acceleration based bilateral control method has stabilized position control. But, force control is not stabilized. This paper proposed a stability improved structure for bilateral control system. Position control and force control of proposed bilateral control system are stabilized. The validity of the proposed method...
Programming by demonstration methods are known as useful methods for non-expert programming. In general, these methods are conducted by motion capture or manual teaching. These methods do not include human force information nor is the natural way human does tasks. On this context, utilization of motion data acquired in bilateral control was considered. This system utilizes motion data as command with...
This paper examines a stability characteristic of gyrator type bilateral control in order to determine a definite feedback gain and scaling design. Stability is examined based on root locus. Maximum stable gain, transfer impedance and transfer admittance are observed in the examination. Moreover, it is observed that at certain transfer impedance and admittance, gyrator type bilateral control and transformer...
Scaling bilateral control is a method to extend human ability by using master and slave robots. Position scaling extends working space of human; force scaling extends sensitivity of human. This technology is useful when the slave robot is larger in size compared with the master robot. In general, correct environmental impedance, such as softness or hardness of the object, cannot be transmitted in...
A switching-channel bilateral control with energy monitor (EM) is newly proposed to realize haptic communication through a wireless network. The varying delay in the communication line and the situation of duplex operation are considered. In such a system, human operators on two sides of the master–slave robots system feel the hardness of the remote environment placed on the contralateral side. The...
This paper proposes a method of implementing a task mode transformation to the transformer-gyrator integrated (TGI) bilateral control. Such a method envisions achieving bilateral control between tasks under workspace difference between robots. Task mode TGI bilateral control enables operators to perform complicated tasks with simple action. The effect of the proposal is verified through simulation...
This paper presents acceleration-wave-based data transmission and control model to improve performance in terms of transparency and perception bandwidth for time-delayed teleoperation mechanisms. Four channel wave transmission structure provides direct force and velocity feedbacks to each robot by asymmetric damping. Wave data is decomposed into acceleration terms and employed in acceleration control...
Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control...
This paper presents a grasping/manipulating control method using mode transformation. Discrete Fourier transform (DFT) matrices are utilized as transformation matrices. In grasping/manipulating control systems, decomposition into grasping motion and manipulating motion remains a key problem. By means of the proposed method, the grasping controller and the manipulating controller can be designed independently...
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