A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network

• Hyodo Shoyo

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Abstract

In teleoperation, human operator manipulates a master robot while watching a video image which is sent from remote environment. If ideal bilateral control is realized in teleoperation, human operator can sense impedance of environment. This information will prevent from breaking remote environment and human operator can achieve more dexterous tasks. However, the presence of network delays between a master robot and a slave robot makes the design of this system challengeable. One of the concerns is the synchronization with haptic and visual sense. This paper proposes a bilateral control system to synchronize haptic and visual sense. For realizing this control target, the round trip time delayed master force is utilized. In the proposed control system, the position response of the master robot synchronizes with the visual image of the slave robot. The validity is confirmed by numerical analysis and experimental results.

Journal

• IEEJ Journal of Industry Applications

  IEEJ Journal of Industry Applications 5 (5), 370-377, 2016

  The Institute of Electrical Engineers of Japan

Keywords

• bilateral control
• network delay
• haptics
• visual sense
• synchronization with haptic and visual sense

Details

• CRID: 1390001205414996736
• NII Article ID: 130005263553
• DOI: 10.1541/ieejjia.5.370
• ISSN: 21871108
• ISSN: 21871094
• NDL BIB ID: 027575879
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I027575879
• Web Site: https://www.jstage.jst.go.jp/article/ieejjia/5/5/5_370/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed