TY - GEN
T1 - Improvement of operationality for multilateral control system under constant time delay
AU - Yamaguchi, Akira
AU - Ohnishi, Kouhei
PY - 2008/12/1
Y1 - 2008/12/1
N2 - In this paper, we propose a novel control system to improve operationally for multilateral control system under constant time delay. Multilateral control system is one of the methods which transmit haptic sense to many remote places. Operationality is a degree of the operational force which an operator of a robot feels except the reaction force from environment If the operational force is large, the operator of a robot feels heavy operational feeling. Moreover, the operator does not feel the sharp haptic sense. Therefore, it is desirable that operational force is decreased in multilateral control system. Time delay is one of the factors of heavy operational feeling. Therefore, we compensate time delay to improve operationality with communication disturbance observer (CDOB) and removing position signal among some master robots. Moreover, we verify that the proposed system improves operationality of multilateral control system under constant time delay by analysis and experimental results.
AB - In this paper, we propose a novel control system to improve operationally for multilateral control system under constant time delay. Multilateral control system is one of the methods which transmit haptic sense to many remote places. Operationality is a degree of the operational force which an operator of a robot feels except the reaction force from environment If the operational force is large, the operator of a robot feels heavy operational feeling. Moreover, the operator does not feel the sharp haptic sense. Therefore, it is desirable that operational force is decreased in multilateral control system. Time delay is one of the factors of heavy operational feeling. Therefore, we compensate time delay to improve operationality with communication disturbance observer (CDOB) and removing position signal among some master robots. Moreover, we verify that the proposed system improves operationality of multilateral control system under constant time delay by analysis and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=77951079182&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2008.4516124
DO - 10.1109/AMC.2008.4516124
M3 - Conference contribution
AN - SCOPUS:77951079182
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 538
EP - 543
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -