Safety control of teleoperation system under time varying communication delay

被引：4

作者：

Tsuji, T ^{[1
]}

Kato, A ^{[1
]}

Ohnishi, K ^{[1
]}

Hace, A ^{[1
]}

Jezernik, K ^{[1
]}

机构：

[1] Keio Univ, Fac Sci & Technol, Dept Syst Design Engn, Tokyo 108, Japan

来源：

8TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/AMC.2004.1297913

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the safe control method on bilateral control system. The control stability in bilateral control under time variance communication delay does not always stand for operation safety. Local controller is needed to secure the safety when communication delay becomes large. A novel method to change over the local controller and global bilateral controller due to communication delay is suggested. At the same time, the stability of global bilateral control is also assured with the conventional stability assurance method. Experimental system that joints manipulators in Slovenia and Japan is constructed. The validity of the suggested method is shown with this experimental system.

引用

页码：463 / 468

页数：6

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