書誌事項
- タイトル別名
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- Bilateral Teleoperation under Time-Varying Communication Time Delay Considering Contact with Environment
- カンキョウ トノ セッショク オ コウリョシタ ヘンドウ ツウシン チエンカ デノ バイラテラル セイギョ
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抄録
With recent popularization of the Internet, bilateral control systems which are robust to fluctuant and unpredictable time delay are desirable. In such a situation, communication disturbance observer (CDOB) has been proposed as a control method for fluctuant and unpredictable time delay in bilateral teleoperation. It compensates time delay using disturbance observer by considering the effect of communication delay on the system as acceleration dimensional disturbance. Since this method cannot separate network disturbance from contact force exerted on a slave, force response of the slave transmitted to the master side is not precise. This paper presents a method for separating network disturbance from the contact force exerted on the slave. By producing the compensation value using separated network disturbance, the force response value of the slave is transmitted to the master side more precisely. The validity of the proposed method is verified by experimental results.
収録刊行物
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- 電気学会論文誌Ｄ（産業応用部門誌）
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電気学会論文誌Ｄ（産業応用部門誌） 127 (10), 1050-1056, 2007
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204659520640
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- NII論文ID
- 10019957971
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 8960565
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可