Multirate sampling method for bilateral control with communication bandwidth constraint

Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

This paper proposes a multirate sampling method for bilateral control systems over network. In the proposed structure, packet-sending period is larger than control period of motor control. This packet contains position and force information that is transmitted between master side and slave side. In general, packet sending period is equal to control period. The reason comes from the fact that data size of this packet is so small that communication bandwidth between master and slave has not been considered. However, we confirmed a phenomenon that the smaller the packet-sending period, the larger the communication delay. Therefore relationship between packet-sending period and control period should be considered in order to design high transparent bilateral control systems. The validity of the proposed multirate sampling method is shown by numerical and experimental results.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOI
出版ステータスPublished - 2009 7 17
イベント2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
継続期間: 2009 2 102009 2 13

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント 「Multirate sampling method for bilateral control with communication bandwidth constraint」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル