TY - JOUR
T1 - Contact prediction control for a teleoperation system with time delay
AU - Norizuki, Hiromu
AU - Uchimura, Yutaka
N1 - Publisher Copyright:
© 2017 The Institute of Electrical Engineers of Japan.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - Model predictive control
KW - Network based control
KW - Tele-operation system
KW - Time delay
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U2 - 10.1541/ieejias.137.561
DO - 10.1541/ieejias.137.561
M3 - Article
AN - SCOPUS:85021729768
VL - 137
SP - 561
EP - 567
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 7
ER -