Contact prediction control for a teleoperation system with time delay

Hiromu Norizuki, Yutaka Uchimura

Research output: Contribution to journalArticle

Abstract

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.

LanguageEnglish
Pages561-567
Number of pages7
JournalIEEJ Transactions on Industry Applications
Volume137
Issue number7
DOIs
StatePublished - 2017

Fingerprint

Remote control
Time delay
Model predictive control
Communication
Computer simulation
Experiments

Keywords

  • Model predictive control
  • Network based control
  • Tele-operation system
  • Time delay

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Contact prediction control for a teleoperation system with time delay. / Norizuki, Hiromu; Uchimura, Yutaka.

In: IEEJ Transactions on Industry Applications, Vol. 137, No. 7, 2017, p. 561-567.

Research output: Contribution to journalArticle

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