A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network
A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network
カテゴリ: 論文誌(論文単位)
グループ名: 【D】産業応用部門(英文)
発行日: 2016/09/01
タイトル(英語): A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network
著者名: Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)
著者名(英語): Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)
キーワード: bilateral control,network delay,haptics,visual sense,synchronization with haptic and visual sense
要約(英語): 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.
本誌: IEEJ Journal of Industry Applications Vol.5 No.5 (2016)
本誌掲載ページ: 370-377 p
原稿種別: 論文/英語
電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/5/5/5_370/_article/-char/ja/
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