Improvement of operationality for multilateral control system under constant time delay

Akira Yamaguchi, Kouhei Ohnishi

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

In this paper, we propose a novel control system to improve operationally for multilateral control system under constant time delay. Multilateral control system is one of the methods which transmit haptic sense to many remote places. Operationality is a degree of the operational force which an operator of a robot feels except the reaction force from environment If the operational force is large, the operator of a robot feels heavy operational feeling. Moreover, the operator does not feel the sharp haptic sense. Therefore, it is desirable that operational force is decreased in multilateral control system. Time delay is one of the factors of heavy operational feeling. Therefore, we compensate time delay to improve operationality with communication disturbance observer (CDOB) and removing position signal among some master robots. Moreover, we verify that the proposed system improves operationality of multilateral control system under constant time delay by analysis and experimental results.

元の言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ538-543
ページ数6
DOI
出版物ステータスPublished - 2008 12 1
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
Italy
Trento
期間08/3/2608/3/28

ASJC Scopus subject areas

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

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  • これを引用

    Yamaguchi, A., & Ohnishi, K. (2008). Improvement of operationality for multilateral control system under constant time delay. : AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 538-543). [4516124] (International Workshop on Advanced Motion Control, AMC; 巻数 1). https://doi.org/10.1109/AMC.2008.4516124