Translation of IEEJ Trans. IA : Contact Prediction Control for a Teleoperation System with Time Delay

• Norizuki Hiromu

  Shibaura Institute of Technology

• Uchimura Yutaka

  Shibaura Institute of Technology

書誌事項

タイトル別名

• Contact Prediction Control for a Teleoperation System with Time Delay

抄録

In a teleoperation system with communication delay, the contact information on the slave side is transmitted to the master side with time delay. Hence, an operator may misunderstand that the slave has not contacted an object and may add more force. Eventually, excessive force by the slave may collapse the object. This paper proposes model predictive control with a variable dumping method to prevent collision on contact in a teleoperation system with time delay. The prediction method considers the distance to the object on slave side, and variable dumping is implemented on the master side. The proposed method is evaluated through numerical simulations and experiments.

収録刊行物

• IEEJ Journal of Industry Applications

  IEEJ Journal of Industry Applications 7 (1), 102-108, 2018

  一般社団法人 電気学会

キーワード

• model predictive control
• teleoperation system
• time delay
• network based control

詳細情報

• CRID: 1390001205416406528
• NII論文ID: 130006301782
• DOI: 10.1541/ieejjia.7.102
• ISSN: 21871108
• ISSN: 21871094
• NDL書誌ID: 028746002
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I028746002
• Web Site: https://www.jstage.jst.go.jp/article/ieejjia/7/1/7_102/_pdf
• 本文言語コード: en
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