Safety control of teleoperation system under time varying communication delay

Toshiaki Tsuji, Atsushi Kato, Kouhei Ohnishi, Aleš Hace, Karel Jezernik

Research output: Contribution to conferencePaper

8 Citations (Scopus)

Abstract

This paper describes the safe control method on bilateral control system. The control stability in bilateral control under time variance communication delay does not always stand for operation safety. Local controller is needed to secure the safety when communication delay becomes large. A novel method to change over the local controller and global bilateral controller due to communication delay is suggested. At the same time, the stability of global bilateral control is also assured with the conventional stability assurance method. Experimental system that joints manipulators in Slovenia and Japan is constructed. The validity of the suggested method is shown with this experimental system.

Original languageEnglish
Pages463-468
Number of pages6
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Tsuji, T., Kato, A., Ohnishi, K., Hace, A., & Jezernik, K. (2004). Safety control of teleoperation system under time varying communication delay. 463-468. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.