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 language | English |
|---|---|
| Title of host publication | Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 68-73 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509045389 |
| DOIs | |
| Publication status | Published - 2017 May 6 |
| Event | 2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia Duration: 2017 Feb 13 → 2017 Feb 15 |
Other
| Other | 2017 IEEE International Conference on Mechatronics, ICM 2017 |
|---|---|
| Country/Territory | Australia |
| City | Gippsland |
| Period | 17/2/13 → 17/2/15 |
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