Improvement of operationality for multilateral control system under constant time delay

Akira Yamaguchi, Kouhei Ohnishi

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

3 Citations (Scopus)

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 languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages538-543
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Time Delay
Time delay
Control System
Control systems
Robot
Haptics
Robots
Operator
Disturbance Observer
Verify
Communication
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Yamaguchi, A., & Ohnishi, K. (2008). Improvement of operationality for multilateral control system under constant time delay. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 538-543). [4516124] https://doi.org/10.1109/AMC.2008.4516124

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 proceedingConference contribution

Yamaguchi, A & Ohnishi, K 2008, Improvement of operationality for multilateral control system under constant time delay. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516124, pp. 538-543, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516124
Yamaguchi A, Ohnishi K. Improvement of operationality for multilateral control system under constant time delay. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 538-543. 4516124 https://doi.org/10.1109/AMC.2008.4516124
Yamaguchi, Akira ; Ohnishi, Kouhei. / Improvement of operationality for multilateral control system under constant time delay. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 538-543
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