Towards the Optimal Control of Haptic Communication

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This paper describes the investigation for establishing the optimal control of the stability and the operability of the remote robot systems using haptic communication under the communication delay. Firstly, this method describes the behavior of remote robot systems by difference differential equation. Secondly, the parameters contained in the equation are estimated through the experiment. Then, the optimal control is realized by using the estimated parameters. This paper summarizes the results of our previous work and adds the new results. Moreover, the future issues are discussed.

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