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This paper proposes a new observer gain tuning methodology to achieve a robust position control. The state observer is often used to estimate the state of the system. Generally, the observer gain is tuned by an evaluation function and the operator needs to arbitrarily select a weight function to obtain an optimal observer gain. This paper introduces a methodology for observer gain tuning using the...
Micro-manipulation is quite required because this makes it easier to do delicate work. This technique can be applied in various departments. However, it is difficult for operator to manipulate by their hands because objects are too small and fragile. Moreover, operators can obtain only visual information at present, and cannot recognize how much force applied to objects. In order to solve these problems,...
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...
Bilateral control is one of the control methods of teleoperation system. The presence of network delays between master and slave robots make the design of bilateral control system challengeable. Because, it seriously deteriorates the performance and possibly makes the system unstable. To overcome the destabilization from network delay, the authors' previous research proposed the model-free time delay...
This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental impedance and modeling error. ABC is one of the control method to enable highly precise transmission of haptic sensation between master and slave robots. Conventionally, ABC is analyzed by using slave side...
Bilateral control is the control technology transmitting the sense of the force to the remote area by using master robot and slave robot. In this control system, it is desirable for operational force to be small. If there is large operational force, it is difficult to recognize stiffness of the remote object, because differences between the contact force and the operational force come small. In addition,...
In this paper, robot control by human motion data is considered. The conventional motion reproduction structure had its limitation on the performance due to the lack of means for environmental sensing. This study implements the widely used vision based approach. The possible reproduction structure with both visual and tactile senses are discussed. The proposed reproduction structure with both visual...
In the research about force sensorless bilateral control using piezoelectric cantilever, nonlinearities of piezoelectric constant and creep phenomenon has not been considered in reaction force observer (RFOB). Therefore, there are room for improvement of the performance of force estimation. In this paper, piezoelectric constant and creep phenomenon are modeled based on experimental results and built...
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...
This paper proposes a method to achieve high-precision control for tendon driven system by using the Twist Drive. Twist Drive is one of transmission system which is consisted a pair of strings and rotary motor. This transmission system converts torque into a pulling force by using the pair of strings twisted on each other. However, it cannot realize pushing motion. Therefore the Twist Drive needs...
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...
In this paper, Force Reverse Presentation Control (FRPC) with variable force and time is proposed for skill transfer. FRPC is composed of two parts; motion saving system and motion learning system. In motion saving system, motion of skilled operator is saved by using master-slave bilateral control. In motion learning system, the slave robot (Robot1) reproduces the saved motion, and master robot (Robot2)...
In present surgical operation, minimally invasive surgery has been progressing by development of medical technology. In particular, the endoscope is often utilized for cancer detection, and examination and treatment of the cancer are performed. The endoscopy can perform examination by the photograph or the video image. However, it is difficult to detect cancer visually. The surgery relying on only...
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...
Recently, master-slave robots over networks are researched. Master-slave systems over networks attracted the attention because it is possible to work in the remote side. Especially, 4ch bilateral control systems can transmit haptic information and the application of the systems is telesurgery and operation in the remote side where human cannot enter. However, wired connection has the disadvantage...
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