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 language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 463-468 |
| Number of pages | 6 |
| Publication status | Published - 2004 |
| Event | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan Duration: 2004 Mar 25 → 2004 Mar 28 |
Other
| Other | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 |
|---|---|
| Country | Japan |
| City | Kawasaki |
| Period | 04/3/25 → 04/3/28 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Safety control of teleoperation system under time varying communication delay. / Tsuji, Toshiaki; Kato, Atsushi; Ohnishi, Kouhei; Hace, Aleš; Jezernik, Karel.
International Workshop on Advanced Motion Control, AMC. 2004. p. 463-468.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Safety control of teleoperation system under time varying communication delay
AU - Tsuji, Toshiaki
AU - Kato, Atsushi
AU - Ohnishi, Kouhei
AU - Hace, Aleš
AU - Jezernik, Karel
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=3042543903&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=3042543903&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:3042543903
SP - 463
EP - 468
BT - International Workshop on Advanced Motion Control, AMC
ER -