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 language | English |
|---|---|
| Title of host publication | Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4781-4786 |
| Number of pages | 6 |
| ISBN (Print) | 9781479940325 |
| DOIs | |
| Publication status | Published - 2014 Feb 24 |
| Event | 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States Duration: 2014 Oct 30 → 2014 Nov 1 |
Other
| Other | 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 |
|---|---|
| Country | United States |
| City | Dallas |
| Period | 14/10/30 → 14/11/1 |
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Keywords
- 3-channel
- 4-channel
- bilateral control
- CDOB
- communication
- haptics
- operational force
- time-delay
- time-delay
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Online calculation of operational force in bilateral control system under time-delay. / Ohno, Yoshiki; Yoshimura, Nobuto; Ohnishi, Kouhei.
Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4781-4786 7049224.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Online calculation of operational force in bilateral control system under time-delay
AU - Ohno, Yoshiki
AU - Yoshimura, Nobuto
AU - Ohnishi, Kouhei
PY - 2014/2/24
Y1 - 2014/2/24
N2 - 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.
AB - 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.
KW - 3-channel
KW - 4-channel
KW - bilateral control
KW - CDOB
KW - communication
KW - haptics
KW - operational force
KW - time-delay
KW - time-delay
UR - http://www.scopus.com/inward/record.url?scp=84949926906&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84949926906&partnerID=8YFLogxK
U2 - 10.1109/IECON.2014.7049224
DO - 10.1109/IECON.2014.7049224
M3 - Conference contribution
SN - 9781479940325
SP - 4781
EP - 4786
BT - Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
ER -