抄録
In a tele-operation system with communication delay, the contact with an object on the slave side is transmitted to the master side with a delay Hence, an operator may misunderstand that the slave has not yet contacted an object and adds more force. In the end, the slave may put excessive force that collapses the object. This paper proposes a model predictive control with a variable dumping method to avoid collision on the contact in a tele-operation system with time delay. The prediction method considers the distance to the object on the slave side, and the variable dumping is implemented on the master side. The proposed method is evaluated through numerical simulations and experiments.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 |
| 出版社 | Institute of Electrical and Electronics Engineers Inc. |
| ページ | 68-73 |
| ページ数 | 6 |
| ISBN（電子版） | 9781509045389 |
| DOI | |
| 出版ステータス | Published - 2017 5月 6 |
| イベント | 2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia 継続期間: 2017 2月 13 → 2017 2月 15 |
Other
| Other | 2017 IEEE International Conference on Mechatronics, ICM 2017 |
|---|---|
| 国/地域 | Australia |
| City | Gippsland |
| Period | 17/2/13 → 17/2/15 |
ASJC Scopus subject areas
- 電子工学および電気工学
- 機械工学
- 制御と最適化