Elimination of reactive operational force in bilateral control system under time delay

Ryohei Kozuki, Kenji Ogawa, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

In this paper, the method which eliminates the reactive operational force in bilateral control system under time delay is proposed. In bilateral control system under time delay, an operator feels large operational force. In addition to that, amplitude of response increases and it makes system unstable. In this paper, the proposed method eliminates this increasing. Therefore, operationality in free motion is improved. To solve this problem, reactive operational force is introduced which is calculated by using power factor in mechanical system. Power factor in mechanical system is derived from power factor in electrical system. Then, the concept of power factor is explained. In this research, only free motion is considered. Then, contact motion should be considered in future work. The performances of the previous method and the proposed method are evaluated through experiments.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages574-579
Number of pages6
ISBN (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Kozuki, R., Ogawa, K., & Ohnishi, K. (2015). Elimination of reactive operational force in bilateral control system under time delay. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 574-579). [7084040] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084040