Ground-Space Teleoperation of a Robot Arm Mounted on Engineering Test Satellite No.VII by Direct Bilateral Coupling under a Long Time Delay Condition

Imaida, Takashi; Yokokohji, Yasuyoshi; Doi, Toshiya; Oda, Mitsushige; Yoshikawa, Tsuneo

doi:10.7210/jrsj.21.309

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…To reduce the problems of the time delay, the scattering theory has been proposed [1], [2]. Moreover, experiment of bilateral control under the time delay by using experimental satellite which is called ETS-VII was carried out [3]. The method using smith compensator and neural network has been also proposed [4].…”

Section: Introductionmentioning

confidence: 99%

Bilateral teleoperation over network based on environmental data memory

Yokokura

Katsura

2009

2009 International Conference on Electrical Machines and Systems

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This paper proposes a novel bilateral control system using environmental data memory and slave system simulator in order to eliminate effect of the time delay, which exist in the communication network. The slave system simulator imitates the real slave system by using the environmental data memory without environmental mathematical model. Thus, non-linear environment and unknown environment can be treated, since raw force information is utilized. In addition, responses of the slave system in the real-world are not returned directly to the master side. By the proposed method, the bilateral controller operates normally under the time delay, which causes vibration and/or overdrive. Therefore, the human operator in the master side is able to grasp the environmental sense through the bilateral controller, even if the environment exists in the distant place. By the experiments, the validity of the proposed method was confirmed in the case that the time delay is set to 0 to 10s.

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Section: Introductionmentioning

confidence: 99%

Bilateral teleoperation over network based on environmental data memory

Yokokura

Katsura

2009

2009 International Conference on Electrical Machines and Systems

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“…Control problems in bilateral teleoperation have been received considerable attention in [1,2]. On teleoperation control force and pressure are usually measured by using force sensors.…”

Section: Introductionmentioning

confidence: 99%

Disturbance estimation by observer-based stabilizing controller with simplified design and its applications to teleoperation

Suzuki

Ito

Kobayashi

2008

2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems

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A new controller scheme based on the observer based stabilizing controller with a simplified design is proposed in this paper. The proposed controller scheme has position tracking property and disturbance estimation property. By applying these properties to teleoperation control, a master-slave system without force sensors is obtained. The effectiveness of the controller scheme is verified by experiments.

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Construction of Motion Database Based on Real-World Haptics

Yokokura

Katsura

2011

IEEJ Trans. IA

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Ground-Space Teleoperation of a Robot Arm Mounted on Engineering Test Satellite No.VII by Direct Bilateral Coupling under a Long Time Delay Condition

Cited by 3 publications

References 19 publications

Bilateral teleoperation over network based on environmental data memory

Bilateral teleoperation over network based on environmental data memory

Disturbance estimation by observer-based stabilizing controller with simplified design and its applications to teleoperation

Construction of Motion Database Based on Real-World Haptics

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