抄録
This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force, is generated in time-delayed 4-channel bilateral control, and a method for calculating the force is proposed. Furthermore, well-known conventional time-delay compensation methods, 3-channel bilateral control and CDOB, are interpreted from the view of communicative operational force. The validity of the proposed method is verified by some experiments.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society |
| 出版社 | Institute of Electrical and Electronics Engineers Inc. |
| ページ | 4781-4786 |
| ページ数 | 6 |
| ISBN（印刷版） | 9781479940325 |
| DOI | |
| 出版ステータス | Published - 2014 2月 24 |
| イベント | 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States 継続期間: 2014 10月 30 → 2014 11月 1 |
Other
| Other | 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 |
|---|---|
| 国/地域 | United States |
| City | Dallas |
| Period | 14/10/30 → 14/11/1 |
ASJC Scopus subject areas
- 電子工学および電気工学