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

Hiromu Norizuki, Yutaka Uchimura

研究成果: Conference contribution

2 引用 (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.

元の言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ68-73
ページ数6
ISBN(電子版)9781509045389
DOI
出版物ステータス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
Australia
Gippsland
期間17/2/1317/2/15

Fingerprint

Model predictive control
Time delay
Communication
Computer simulation
Experiments

ASJC Scopus subject areas

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

これを引用

Norizuki, H., & Uchimura, Y. (2017). Contact prediction control for a tele-operation system with time delay. : Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 68-73). [7921082] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921082

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

Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 68-73 7921082.

研究成果: Conference contribution

Norizuki, H & Uchimura, Y 2017, Contact prediction control for a tele-operation system with time delay. : Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017., 7921082, Institute of Electrical and Electronics Engineers Inc., pp. 68-73, 2017 IEEE International Conference on Mechatronics, ICM 2017, Gippsland, Australia, 17/2/13. https://doi.org/10.1109/ICMECH.2017.7921082
Norizuki H, Uchimura Y. Contact prediction control for a tele-operation system with time delay. : Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 68-73. 7921082 https://doi.org/10.1109/ICMECH.2017.7921082
Norizuki, Hiromu ; Uchimura, Yutaka. / Contact prediction control for a tele-operation system with time delay. Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 68-73
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