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

Hiromu Norizuki, Yutaka Uchimura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ68-73
ページ数6
ISBN(電子版)9781509045389
DOI
出版ステータスPublished - 2017 5 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2 132017 2 15

Other

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

ASJC Scopus subject areas

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

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