Contact prediction control for a tele-operation system with time delay

Hiromu Norizuki, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In a tele-operation system with communication delay, the contact with an object on the slave side is transmitted to the master side with a delay Hence, an operator may misunderstand that the slave has not yet contacted an object and adds more force. In the end, the slave may put excessive force that collapses the object. This paper proposes a model predictive control with a variable dumping method to avoid collision on the contact in a tele-operation system with time delay. The prediction method considers the distance to the object on the slave side, and the variable dumping is implemented on the master side. The proposed method is evaluated through numerical simulations and experiments.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages68-73
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

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Keywords

  • Model predictive control
  • network based control
  • tele-operation system
  • time delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

Cite this

Norizuki, H., & Uchimura, Y. (2017). Contact prediction control for a tele-operation system with time delay. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 68-73). [7921082] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921082