Abstract
In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 587-592 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781538619469 |
| DOIs | |
| Publication status | Published - 2018 Jun 1 |
| Event | 15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan Duration: 2018 Mar 9 → 2018 Mar 11 |
Other
| Other | 15th IEEE International Workshop on Advanced Motion Control, AMC 2018 |
|---|---|
| Country | Japan |
| City | Tokyo |
| Period | 18/3/9 → 18/3/11 |
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Keywords
- Model Predictive Control
- Network based control
- Teleoperation system
- Time delay
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Mechanical Engineering
- Control and Optimization
Cite this
Design of model predictive control considering time delay in remote excavation work. / Norizuki, Hiromu; Uchimura, Yutaka.
Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 587-592.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design of model predictive control considering time delay in remote excavation work
AU - Norizuki, Hiromu
AU - Uchimura, Yutaka
PY - 2018/6/1
Y1 - 2018/6/1
N2 - In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.
AB - In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.
KW - Model Predictive Control
KW - Network based control
KW - Teleoperation system
KW - Time delay
UR - http://www.scopus.com/inward/record.url?scp=85048740712&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85048740712&partnerID=8YFLogxK
U2 - 10.1109/AMC.2019.8371159
DO - 10.1109/AMC.2019.8371159
M3 - Conference contribution
SP - 587
EP - 592
BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
ER -