Reduction of an operational force in a simultaneity realized bilateral telecommunication system

Satoshi Nishimura, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

The paper proposes a method to reduce an operational force in a bilateral control system that realizes simultaneity property under communication delay. A bilateral control that realizes simultaneity property is previously proposed, which is achieved by delaying the own force information. It focused on the fact that the force information is the pure information that actuates the motor, therefore, timing of the force information input is corrected. However, the control system requires large force when operator tries to operate the system. In this paper, the problem is solved by utilizing the delayed position information of the own system. The proposed control system is designed to mix present and buffered position information to reduce the operational force. The delayed information can easily affect the stability problem, therefore, phase compensator and the velocity feedback is used. The validity of the proposed method is confirmed by experiments.

本文言語English
ホスト出版物のタイトルProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2256-2261
ページ数6
ISBN(印刷版)9781479923991
DOI
出版ステータスPublished - 2014
イベント2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
継続期間: 2014 6 12014 6 4

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
国/地域Turkey
CityIstanbul
Period14/6/114/6/4

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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