TY - GEN
T1 - Design of model predictive control considering time delay in remote excavation work
AU - Norizuki, Hiromu
AU - Uchimura, Yutaka
PY - 2018/6/1
Y1 - 2018/6/1
N2 - In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.
AB - In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by 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=85048740712&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85048740712&partnerID=8YFLogxK
U2 - 10.1109/AMC.2019.8371159
DO - 10.1109/AMC.2019.8371159
M3 - Conference contribution
AN - SCOPUS:85048740712
T3 - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
SP - 587
EP - 592
BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Y2 - 9 March 2018 through 11 March 2018
ER -