Contact prediction control for a teleoperation system with time delay

Hiromu Norizuki, Yutaka Uchimura

Research output: Contribution to journalArticle

2 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)102-108
Number of pages7
JournalIEEJ Journal of Industry Applications
Volume7
Issue number1
DOIs
Publication statusPublished - 2018 Jan 1

Fingerprint

Remote control
Time delay
Model predictive control
Communication
Computer simulation
Experiments

Keywords

  • Model predictive control
  • Network based control
  • Teleoperation system
  • Time delay

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • 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 Journal of Industry Applications, Vol. 7, No. 1, 01.01.2018, p. 102-108.

Research output: Contribution to journalArticle

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