Improvement of performance in bilateral teleoperation by using FPGA

Bilateral teleoperation has been needed in many scenes such as space activities or undersea, work on a atomic power plant and minimally invasive surgery, etc. In bilateral teleoperation, transfer of keen tactile sense as if the operator directly touch the environment without using the robot is required. Wide frequency bandwidth of force sensing is required to achieve transfer of a keen tactile sensation. Bilateral controller based on acceleration control with disturbance observer is available to achieve transfer of a keen tactile sensation. The frequency bandwidth of force sensing is determined by cut-off frequency of low-pass filter used in disturbance observer. The cut-off frequency is in inverse proportion to a sampling period. Therefore, shortening of the sampling period improves performance of bilateral teleoperation. In this paper, bilateral teleoperation system by using FPGA (field programmable gate array) is introduced. FPGA is a LSI that user can design its internal logic. When motion controller is implemented on FPGA, it operates faster than that implemented in a PC (personal computer) with RTOS (real time operating system). The sampling period is shortened from 100 mus to 10 mus by using FPGA

[1]  K. Sridharan,et al.  The design of a hardware accelerator for real-time complete visibility graph construction and efficient FPGA implementation , 2005, IEEE Transactions on Industrial Electronics.

[2]  Susumu Tachi,et al.  Force and/or impedance control system in masterslave teleoperation , 1991 .

[3]  Kouhei Ohnishi,et al.  Medical mechatronics - An application to haptic forceps , 2005, Annu. Rev. Control..

[4]  R. C. Kavanagh.  Signal processing techniques for improved digital tachometry , 2002, Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on.

[5]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[6]  Kazuhiro Ohyama,et al.  Application of FPGA to Rotor Position Detection of SR Motor Using Rotary Encoder , 2005 .

[7]  T. L. Brooks,et al.  Telerobotic response requirements , 1990, 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings.

[8]  T. Yokoyama,et al.  Multirate deadbeat control for PWM inverters using FPGA based hardware controller , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.

[9]  Brian L. Davies.  Robotic surgery: at the cutting edge of technology , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[10]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[11]  Kab Il Kim,et al.  Motion control of biped robots using a single-chip drive , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Ansi Ieee,et al.  IEEE Standard for Binary Floating Point Arithmetic , 1985 .

[13]  G. Hirzinger,et al.  Embedded FPGA-based control of the HIT/DLR hand , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[14]  Thomas B. Sheridan,et al.  Telerobotics , 1989, Autom..

[15]  Yuichi Matsumoto,et al.  Analysis and experimental validation of force bandwidth for force control , 2006, IEEE Transactions on Industrial Electronics.

[16]  Yuichi Matsumoto,et al.  Realization of "Law of action and reaction" by multilateral control , 2005, IEEE Transactions on Industrial Electronics.

[17]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[18]  Kouhei Ohnishi,et al.  Design guidelines for disturbance observer's filter in discrete time , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[19]  R. C. Goertz,et al.  A FORCE-REFLECTING POSITIONAL SERVOMECHANISM , 1952 .