Reduction of an operational force in a simultaneity realized bilateral telecommunication system

Satoshi Nishimura, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

The paper proposes a method to reduce an operational force in a bilateral control system that realizes simultaneity property under communication delay. A bilateral control that realizes simultaneity property is previously proposed, which is achieved by delaying the own force information. It focused on the fact that the force information is the pure information that actuates the motor, therefore, timing of the force information input is corrected. However, the control system requires large force when operator tries to operate the system. In this paper, the problem is solved by utilizing the delayed position information of the own system. The proposed control system is designed to mix present and buffered position information to reduce the operational force. The delayed information can easily affect the stability problem, therefore, phase compensator and the velocity feedback is used. The validity of the proposed method is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2256-2261
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

    Fingerprint

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Nishimura, S., & Katsura, S. (2014). Reduction of an operational force in a simultaneity realized bilateral telecommunication system. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 2256-2261). [6864969] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864969