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 |
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| 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 |
Keywords
- 3-channel
- 4-channel
- bilateral control
- CDOB
- communication
- haptics
- operational force
- time-delay
- time-delay
ASJC Scopus subject areas
- Electrical and Electronic Engineering