An analysis of the impedance perceived by an operator in multilateral control system under constant communication time delay

Akira Yamaguchi, Kenji Natori, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, the impedance perceived by an operator of a robot in multilateral control system under constant communication time delay is considered. The multilateral control system is one of the methods which transmit tactile sense to many remote places. Time delay possibly makes the performance of the multilateral control system worse. For example, time delay makes an operator feels large operational force. The operational force means that the operator feels the force except the reaction force from the environment. Moreover, time delay makes the operator feels that the environment is softer than the real stiffness. In this paper, the multilateral control system with three robots is considered. By frequency characteristics of the impedance perceived by the operator, the effect of time delay on the impedance perceived by the operator is verified. The results obtained in the analysis are verified by experimental results.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs
Publication statusPublished - 2009 Jul 17
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Yamaguchi, A., Natori, K., & Ohnishi, K. (2009). An analysis of the impedance perceived by an operator in multilateral control system under constant communication time delay. In 2009 IEEE International Conference on Industrial Technology, ICIT 2009 [4939594] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2009.4939594