TY - JOUR
T1 - Contact prediction control for a teleoperation system with time delay
AU - Norizuki, Hiromu
AU - Uchimura, Yutaka
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
AB - 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.
KW - Model predictive control
KW - Network based control
KW - Teleoperation system
KW - Time delay
UR - http://www.scopus.com/inward/record.url?scp=85041954131&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041954131&partnerID=8YFLogxK
U2 - 10.1541/ieejjia.7.102
DO - 10.1541/ieejjia.7.102
M3 - Article
AN - SCOPUS:85041954131
SN - 2187-1094
VL - 7
SP - 102
EP - 108
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 1
ER -