Improvement of operationality for multilateral control system under constant time delay

Akira Yamaguchi, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語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
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 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
国/地域Italy
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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