TY - GEN
T1 - An analysis of the impedance perceived by an operator in multilateral control system under constant communication time delay
AU - Yamaguchi, Akira
AU - Natori, Kenji
AU - Ohnishi, Kouhei
PY - 2009/7/17
Y1 - 2009/7/17
N2 - In this paper, the impedance perceived by an operator of a robot in multilateral control system under constant communication time delay is considered. The multilateral control system is one of the methods which transmit tactile sense to many remote places. Time delay possibly makes the performance of the multilateral control system worse. For example, time delay makes an operator feels large operational force. The operational force means that the operator feels the force except the reaction force from the environment. Moreover, time delay makes the operator feels that the environment is softer than the real stiffness. In this paper, the multilateral control system with three robots is considered. By frequency characteristics of the impedance perceived by the operator, the effect of time delay on the impedance perceived by the operator is verified. The results obtained in the analysis are verified by experimental results.
AB - In this paper, the impedance perceived by an operator of a robot in multilateral control system under constant communication time delay is considered. The multilateral control system is one of the methods which transmit tactile sense to many remote places. Time delay possibly makes the performance of the multilateral control system worse. For example, time delay makes an operator feels large operational force. The operational force means that the operator feels the force except the reaction force from the environment. Moreover, time delay makes the operator feels that the environment is softer than the real stiffness. In this paper, the multilateral control system with three robots is considered. By frequency characteristics of the impedance perceived by the operator, the effect of time delay on the impedance perceived by the operator is verified. The results obtained in the analysis are verified by experimental results.
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U2 - 10.1109/ICIT.2009.4939594
DO - 10.1109/ICIT.2009.4939594
M3 - Conference contribution
AN - SCOPUS:67650326792
SN - 1424435064
SN - 9781424435067
T3 - Proceedings of the IEEE International Conference on Industrial Technology
BT - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
T2 - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
Y2 - 10 February 2009 through 13 February 2009
ER -