Paper Info
Title
Online calculation of operational force in bilateral control system under time-delay
Abstract
This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force, is generated in time-delayed 4-channel bilateral control, and a method for calculating the force is proposed. Furthermore, well-known conventional time-delay compensation methods, 3-channel bilateral control and CDOB, are interpreted from the view of communicative operational force. The validity of the proposed method is verified by some experiments.
Year
DOI
Venue
2014
10.1109/IECON.2014.7049224
IECON
Keywords
DocType
ISSN
delay systems,force control,haptic interfaces,robot vision,bilateral control system,haptic sense transmission,operational force online calculation,time-delayed 4-channel bilateral control system,3-channel,4-channel,cdob,bilateral control,communication,haptics,operational force,time-delay,force,control systems,frequency modulation,impedance
Conference
1553-572X
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Ohno, Y.131.69
Yoshimura, Nobuto201.69
Kiyoshi Ohishi341571.48