Design of model predictive control considering time delay in remote excavation work

Hiromu Norizuki, Yutaka Uchimura

研究成果: Conference contribution

抄録

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.

元の言語English
ホスト出版物のタイトルProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ587-592
ページ数6
ISBN(電子版)9781538619469
DOI
出版物ステータスPublished - 2018 6 1
イベント15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
継続期間: 2018 3 92018 3 11

Other

Other15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Japan
Tokyo
期間18/3/918/3/11

Fingerprint

Model predictive control
Excavation
Time delay
Robots
Remote control
Communication
Computer simulation
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Mechanical Engineering
  • Control and Optimization

これを引用

Norizuki, H., & Uchimura, Y. (2018). Design of model predictive control considering time delay in remote excavation work. : Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 (pp. 587-592). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2019.8371159

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.

研究成果: Conference contribution

Norizuki, H & Uchimura, Y 2018, Design of model predictive control considering time delay in remote excavation work. : Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., pp. 587-592, 15th IEEE International Workshop on Advanced Motion Control, AMC 2018, Tokyo, Japan, 18/3/9. https://doi.org/10.1109/AMC.2019.8371159
Norizuki H, Uchimura Y. Design of model predictive control considering time delay in remote excavation work. : Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 587-592 https://doi.org/10.1109/AMC.2019.8371159
Norizuki, Hiromu ; Uchimura, Yutaka. / Design of model predictive control considering time delay in remote excavation work. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 587-592
@inproceedings{70fa2775d7594405b317fd5baffd4075,
title = "Design of model predictive control considering time delay in remote excavation work",
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.",
keywords = "Model Predictive Control, Network based control, Teleoperation system, Time delay",
author = "Hiromu Norizuki and Yutaka Uchimura",
year = "2018",
month = "6",
day = "1",
doi = "10.1109/AMC.2019.8371159",
language = "English",
pages = "587--592",
booktitle = "Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

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

AN - SCOPUS:85048740712

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 -