TY - GEN
T1 - Multirate sampling method for bilateral control with communication bandwidth constraint
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2009/7/17
Y1 - 2009/7/17
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=67650296137&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67650296137&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2009.4939532
DO - 10.1109/ICIT.2009.4939532
M3 - Conference contribution
AN - SCOPUS:67650296137
SN - 1424435064
SN - 9781424435067
T3 - Proceedings of the IEEE International Conference on Industrial Technology
BT - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
T2 - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
Y2 - 10 February 2009 through 13 February 2009
ER -