RTLinux based bilateral control system with time delay over network

Atsushi Kato, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

In this paper, bilateral control system over networks is discussed and transmission delay issues are considered. This paper concerns on two subjects relating to transmission delay. The first one is how to realize real-time network transmission. Both systems; master and slave system run in RTLinux that is based on real time operating system. Thus, both systems should be connected to network device in real time as well. The other one is bilateral control system with transmission delay. In this paper, bilateral control system composed of disturbance observer and reaction force estimation observer is proposed. And the disturbance force from transmission time delay is compensated by disturbance observer. The validity of proposed control architecture is shown by experimental results.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Pages1763-1768
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
Duration: 2005 Jun 202005 Jun 23

Publication series

NameIEEE International Symposium on Industrial Electronics
VolumeIV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
CountryCroatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Kato, A., & Ohnishi, K. (2005). RTLinux based bilateral control system with time delay over network. In Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005 (pp. 1763-1768). [1529199] (IEEE International Symposium on Industrial Electronics; Vol. IV). https://doi.org/10.1109/ISIE.2005.1529199