Contact Prediction Control for a Teleoperation System with Time Delay

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2018/01/01タイトル(英語): Contact Prediction Control for a Teleoperation System with Time Delay著者名: Hiromu Norizuki (Shibaura Institute of Technol ogy), Yutaka Uchimura (Shibaura Institute of Technology)著者名(英語): Hiromu Norizuki (Shibaura Institute of Technology), Yutaka Uchimura (Shibaura Institute of Technology)キーワード: model predictive control，teleoperation system，time delay，network based control要約(英語): 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.本誌: IEEJ Journal of Industry Applications Vol.7 No.1 （2018）本誌掲載ページ: 102-108 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/7/1/7_102/_article/-char/ja/ Show more