Online calculation of operational force in bilateral control system under time-delay

Yoshiki Ohno, Nobuto Yoshimura, Kouhei Ohnishi

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

7 Citations (Scopus)

Abstract

This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force, is generated in time-delayed 4-channel bilateral control, and a method for calculating the force is proposed. Furthermore, well-known conventional time-delay compensation methods, 3-channel bilateral control and CDOB, are interpreted from the view of communicative operational force. The validity of the proposed method is verified by some experiments.

Original languageEnglish
Title of host publicationProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4781-4786
Number of pages6
ISBN (Print)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24
Event40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
Duration: 2014 Oct 302014 Nov 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
CountryUnited States
CityDallas
Period14/10/3014/11/1

Keywords

  • 3-channel
  • 4-channel
  • bilateral control
  • CDOB
  • communication
  • haptics
  • operational force
  • time-delay
  • time-delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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