Synchronization Performance Improvement on Motion Canceling Bilateral Control Using an Extended Dual Sampling Rate Observer

被引：0

作者：

Nakajima, Yu ^{[1
]}

Nozaki, Takahiro ^{[1
]}

Ohnishi, Kouhei ^{[2
]}

机构：

[1] Keio Univ, Grad Sch Sci & Technol, Yokohama, Kanagawa 223, Japan

[2] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 223, Japan

来源：

2012 5TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTIONS (HSI 2012) | 2012年

关键词：

bilateral control; dual sampling rate observer; intersample; motion canceling; teleoperation; visual servoing;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This interface helps the operator by taking a task and reduces his/her workload. However, the delay caused by the sensors deteriorates the synchronization performance and transparency of the MCBC. Therefore, synchronization performance improving method for MCBC utilizing an extended dual sampling rate observer (EDSR observer) is proposed in this research. The target motion is modeled as a motion with constant acceleration and the EDSR observer is utilized to estimate the present position of the target. The experimental results indicated that the synchronization performance was improved by 12.2 % in maximum error ratio and 14.8 % in root mean square error ratio. The experimental results indicate an improvement of the target operationality, which suggests the clear tactile sense transmission was achieved.

引用

页码：160 / 167

页数：8