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

Hiromu Norizuki, Yutaka Uchimura

研究成果: Conference contribution

1 被引用数 (Scopus)

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.

本文言語English
ホスト出版物のタイトルProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
出版社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

出版物シリーズ

名前Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018

Other

Other15th IEEE International Workshop on Advanced Motion Control, AMC 2018
国/地域Japan
CityTokyo
Period18/3/918/3/11

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 機械工学
  • 制御と最適化

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