Multirate sampling method for bilateral control with communication bandwidth constraint

Daisuke Yashiro, Kouhei Ohnishi

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

13 Citations (Scopus)

Abstract

This paper proposes a multirate sampling method for bilateral control systems over network. In the proposed structure, packet-sending period is larger than control period of motor control. This packet contains position and force information that is transmitted between master side and slave side. In general, packet sending period is equal to control period. The reason comes from the fact that data size of this packet is so small that communication bandwidth between master and slave has not been considered. However, we confirmed a phenomenon that the smaller the packet-sending period, the larger the communication delay. Therefore relationship between packet-sending period and control period should be considered in order to design high transparent bilateral control systems. The validity of the proposed multirate sampling method is shown by numerical and 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

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Yashiro, D., & Ohnishi, K. (2009). Multirate sampling method for bilateral control with communication bandwidth constraint. In 2009 IEEE International Conference on Industrial Technology, ICIT 2009 [4939532] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2009.4939532