Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 538-543 |
| Number of pages | 6 |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy Duration: 2008 Mar 26 → 2008 Mar 28 |
Other
| Other | 10th International Workshop on Advanced Motion Control, AMC'08 |
|---|---|
| Country | Italy |
| City | Trento |
| Period | 08/3/26 → 08/3/28 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Computer Science Applications
- Modelling and Simulation
Cite this
Improvement of operationality for multilateral control system under constant time delay. / Yamaguchi, Akira; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 538-543 4516124.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Improvement of operationality for multilateral control system under constant time delay
AU - Yamaguchi, Akira
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
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
UR - http://www.scopus.com/inward/citedby.url?scp=77951079182&partnerID=8YFLogxK
U2 - 10.1109/AMC.2008.4516124
DO - 10.1109/AMC.2008.4516124
M3 - Conference contribution
AN - SCOPUS:77951079182
SN - 9781424417032
VL - 1
SP - 538
EP - 543
BT - International Workshop on Advanced Motion Control, AMC
ER -