HapticV1, PascalFrancis, Corpus, bibRecord, 000333

Haptic transmission by weighting control under time-varying communication delay

Identifieur interne : 000333 ( PascalFrancis/Corpus ); précédent : 000332; suivant : 000334

Haptic transmission by weighting control under time-varying communication delay

Auteurs : D. Tian ; D. Yashiro ; K. Ohnishi

Source :

IET control theory & applications : (Print) [ 1751-8644 ] ; 2012.

RBID : Pascal:12-0192617

Descripteurs français

Pascal (Inist)
- Système à retard, Système paramètre variable, Robotique, Robot, Homme, Programme commande, Commande force, Commande position, Ressort, Disponibilité, Passivité, Sensibilité tactile, Relation maître esclave, Main, Délai transmission, Instabilité, Bilatéral, Haute performance, Etude expérimentale, ., Contrôle poids.

English descriptors

KwdEn :
- Availability, Bilateral, Control program, Delay system, Experimental study, Force control, Hand, High performance, Human, Instability, Master slave relationship, Passivity, Position control, Robot, Robotics, Spring, Tactile sensitivity, Time varying system, Transmission time, Weight control.

Abstract

Haptic transmission, which is realised by master-slave robots system, is a challenging research to extend human hands. However, the communication delay is a serious problem which degrades the performance and causes instability to the system. In this paper, a new bilateral control law with weighting control is proposed to achieve high-performance haptic transmission under varying communication delay. This method weights the force control and the position control in the master robot according to the estimation of environment stiffness in the slave one. A virtual spring is proposed and inserted into the stiffness estimation algorithm to guarantee the availability for hard environment. The stability is analysed by considering the passivity of the master-slave robots system under the proposed control law. Finally, the validity of the proposal is confirmed by experiments.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`03`	`1`		`@1 OHNISHI (K.)`
A14	`01`			`@1 School of Automation Science and Electrical Engineering, Beihang University @2 Beijing 100191 @3 CHN @Z 1 aut.`
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C01	`01`		`ENG`	@0 Haptic transmission, which is realised by master-slave robots system, is a challenging research to extend human hands. However, the communication delay is a serious problem which degrades the performance and causes instability to the system. In this paper, a new bilateral control law with weighting control is proposed to achieve high-performance haptic transmission under varying communication delay. This method weights the force control and the position control in the master robot according to the estimation of environment stiffness in the slave one. A virtual spring is proposed and inserted into the stiffness estimation algorithm to guarantee the availability for hard environment. The stability is analysed by considering the passivity of the master-slave robots system under the proposed control law. Finally, the validity of the proposal is confirmed by experiments.
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C03	`18`	`X`	`FRE`	`@0 Haute performance @5 27`
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C03	`21`	`X`	`SPA`	`@0 Control de peso @4 CD @5 96`
N21				`@1 149`
N44	`01`			`@1 OTO`
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Format Inist (serveur)

NO :	PASCAL 12-0192617 INIST
ET :	Haptic transmission by weighting control under time-varying communication delay
AU :	TIAN (D.); YASHIRO (D.); OHNISHI (K.)
AF :	School of Automation Science and Electrical Engineering, Beihang University/Beijing 100191/Chine (1 aut.); Department of System Design Engineering, Keio University, 3-14-1/Hiyoshi, Yokohama 223-8522/Japon (1 aut., 2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	IET control theory & applications : (Print); ISSN 1751-8644; Royaume-Uni; Da. 2012; Vol. 6; No. 3; Pp. 420-429; Bibl. 22 ref.
LA :	Anglais
EA :	Haptic transmission, which is realised by master-slave robots system, is a challenging research to extend human hands. However, the communication delay is a serious problem which degrades the performance and causes instability to the system. In this paper, a new bilateral control law with weighting control is proposed to achieve high-performance haptic transmission under varying communication delay. This method weights the force control and the position control in the master robot according to the estimation of environment stiffness in the slave one. A virtual spring is proposed and inserted into the stiffness estimation algorithm to guarantee the availability for hard environment. The stability is analysed by considering the passivity of the master-slave robots system under the proposed control law. Finally, the validity of the proposal is confirmed by experiments.
CC :	001D02D11; 001D02D07
FD :	Système à retard; Système paramètre variable; Robotique; Robot; Homme; Programme commande; Commande force; Commande position; Ressort; Disponibilité; Passivité; Sensibilité tactile; Relation maître esclave; Main; Délai transmission; Instabilité; Bilatéral; Haute performance; Etude expérimentale; .; Contrôle poids
ED :	Delay system; Time varying system; Robotics; Robot; Human; Control program; Force control; Position control; Spring; Availability; Passivity; Tactile sensitivity; Master slave relationship; Hand; Transmission time; Instability; Bilateral; High performance; Experimental study; Weight control
SD :	Sistema con retardo; Sistema parámetro variable; Robótica; Robot; Hombre; Programa mando; Control fuerza; Regulación de la posición; Resorte; Disponibilidad; Pasividad; Sensibilidad tactil; Relación maestro esclavo; Mano; Plazo transmisión; Inestabilidad; Bilateral; Alto rendimiento; Estudio experimental; Control de peso
LO :	INIST-7573D.354000508414450100
ID :	12-0192617

Links to Exploration step

Pascal:12-0192617

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<front><div type="abstract" xml:lang="en">Haptic transmission, which is realised by master-slave robots system, is a challenging research to extend human hands. However, the communication delay is a serious problem which degrades the performance and causes instability to the system. In this paper, a new bilateral control law with weighting control is proposed to achieve high-performance haptic transmission under varying communication delay. This method weights the force control and the position control in the master robot according to the estimation of environment stiffness in the slave one. A virtual spring is proposed and inserted into the stiffness estimation algorithm to guarantee the availability for hard environment. The stability is analysed by considering the passivity of the master-slave robots system under the proposed control law. Finally, the validity of the proposal is confirmed by experiments.</div>
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<s5>13</s5>
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<fC03 i1="09" i2="X" l="FRE"><s0>Ressort</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Spring</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Resorte</s0>
<s5>14</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Disponibilité</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Availability</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Disponibilidad</s0>
<s5>15</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Passivité</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Passivity</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Pasividad</s0>
<s5>16</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>18</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Relation maître esclave</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Master slave relationship</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Relación maestro esclavo</s0>
<s5>19</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Main</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Hand</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Mano</s0>
<s5>20</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Délai transmission</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Transmission time</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Plazo transmisión</s0>
<s5>21</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Instabilité</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Instability</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Inestabilidad</s0>
<s5>22</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Bilatéral</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Bilateral</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Bilateral</s0>
<s5>23</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Haute performance</s0>
<s5>27</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>High performance</s0>
<s5>27</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Alto rendimiento</s0>
<s5>27</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Contrôle poids</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Weight control</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Control de peso</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>149</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 12-0192617 INIST</NO>
<ET>Haptic transmission by weighting control under time-varying communication delay</ET>
<AU>TIAN (D.); YASHIRO (D.); OHNISHI (K.)</AU>
<AF>School of Automation Science and Electrical Engineering, Beihang University/Beijing 100191/Chine (1 aut.); Department of System Design Engineering, Keio University, 3-14-1/Hiyoshi, Yokohama 223-8522/Japon (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IET control theory & applications : (Print); ISSN 1751-8644; Royaume-Uni; Da. 2012; Vol. 6; No. 3; Pp. 420-429; Bibl. 22 ref.</SO>
<LA>Anglais</LA>
<EA>Haptic transmission, which is realised by master-slave robots system, is a challenging research to extend human hands. However, the communication delay is a serious problem which degrades the performance and causes instability to the system. In this paper, a new bilateral control law with weighting control is proposed to achieve high-performance haptic transmission under varying communication delay. This method weights the force control and the position control in the master robot according to the estimation of environment stiffness in the slave one. A virtual spring is proposed and inserted into the stiffness estimation algorithm to guarantee the availability for hard environment. The stability is analysed by considering the passivity of the master-slave robots system under the proposed control law. Finally, the validity of the proposal is confirmed by experiments.</EA>
<CC>001D02D11; 001D02D07</CC>
<FD>Système à retard; Système paramètre variable; Robotique; Robot; Homme; Programme commande; Commande force; Commande position; Ressort; Disponibilité; Passivité; Sensibilité tactile; Relation maître esclave; Main; Délai transmission; Instabilité; Bilatéral; Haute performance; Etude expérimentale; .; Contrôle poids</FD>
<ED>Delay system; Time varying system; Robotics; Robot; Human; Control program; Force control; Position control; Spring; Availability; Passivity; Tactile sensitivity; Master slave relationship; Hand; Transmission time; Instability; Bilateral; High performance; Experimental study; Weight control</ED>
<SD>Sistema con retardo; Sistema parámetro variable; Robótica; Robot; Hombre; Programa mando; Control fuerza; Regulación de la posición; Resorte; Disponibilidad; Pasividad; Sensibilidad tactil; Relación maestro esclavo; Mano; Plazo transmisión; Inestabilidad; Bilateral; Alto rendimiento; Estudio experimental; Control de peso</SD>
<LO>INIST-7573D.354000508414450100</LO>
<ID>12-0192617</ID>
</server>
</inist>
</record>

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Haptic transmission by weighting control under time-varying communication delay

Haptic transmission by weighting control under time-varying communication delay

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