DocumentCode :
1461093
Title :
Wireless Haptic Communication Under Varying Delay by Switching-Channel Bilateral Control With Energy Monitor
Author :
Tian, Dapeng ; Yashiro, Daisuke ; Ohnishi, Kouhei
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Volume :
17
Issue :
3
fYear :
2012
fDate :
6/1/2012 12:00:00 AM
Firstpage :
488
Lastpage :
498
Abstract :
A switching-channel bilateral control with energy monitor (EM) is newly proposed to realize haptic communication through a wireless network. The varying delay in the communication line and the situation of duplex operation are considered. In such a system, human operators on two sides of the master-slave robots system feel the hardness of the remote environment placed on the contralateral side. The EM approach is presented to judge the role of the robot (manipulated by an operator or contacting an environment), which provides a beacon for the switching algorithm. The position tracking of the system is improved by switching off the channel of force control in the human manipulated robot. The problem of position drift in traditional methods is overcome. Disturbance observer is applied to simplify the design of the bilateral control law, and to guarantee the efficient force switching. Because of improved position tracking and satisfactory force fidelity, the proposed approach achieves more vivid haptic transmission. By experiments, the validity is verified.
Keywords :
control system synthesis; delays; force control; haptic interfaces; human-robot interaction; observers; position control; stability; telerobotics; time-varying systems; tracking; wireless channels; bilateral control law design; communication line varying delay; disturbance observer; duplex operation; energy monitor; force control; force fidelity; force switching; haptic transmission; human manipulated robot; human operators; master-slave robot system; position drift; remote environment; switching algorithm; switching-channel bilateral control; system position tracking; wireless haptic communication; wireless network; Force; Frequency modulation; Haptic interfaces; Humans; Robots; Switches; Bilateral control; energy monitor (EM); haptic; switching; wireless;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2012.2187459
Filename :
6162986
Link To Document :
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