Operationality of Multilateral Control System under Constant Communication Time Delay

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  • Yamaguchi Akira
    Department of System Design Engineering, Faculty of Science and Technology, Keio University
  • Natori Kenji
    Department of Electrical Engineering and Electronics, College of Science and Engineering, Aoyama Gakuin University
  • Ohnishi Kouhei
    Department of System Design Engineering, Faculty of Science and Technology, Keio University

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  • 一定通信遅延下におけるマルチラテラル制御系の操作性
  • イッテイ ツウシン チエン カ ニ オケル マルチラテラル セイギョケイ ノ ソウサセイ

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Abstract

This paper proposes a novel control system to improve the operationality of a multilateral control system under constant communication time delay. A multilateral control system can be used to transmit haptic sense to remote places. Operationality indicates the magnitude of the operational force, which refers to the force that the operator of a robot experiences other than the reaction force from the environment. If the operational force is large, the operator of a robot feels heavy operational feeling. Time delay is one of the factors of heavy operational feeling. In this study, we investigate the relationship between the operationality of robots and the mutual transmission of their position signals in a multilateral control system under constant communication time delay. In the proposed control system, there is no transimission of position signals between the master robots. We verify the validity of the proposed control system by performing experiments.

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