TY - GEN
T1 - Bilateral control with communication time delay by using motion copying system
AU - Yokokura, Yuki
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2008
Y1 - 2008
N2 - In order to realize communication and broadcasting of haptic information, bilateral control with communication time delay is important element. The paper proposes a novel bilateral control method for communication time delay. To compensate the effect of communication time delay, the proposed method applies a motion copying system. The motion copying system is able to save and reproduce motion of human operator. The reproduced position and force by the motion copying system corresponds to saved position and force. The motion copying system copies local motion to other side, in order to realize compensation of communication time delay. The paper confirms that the communication time delay compensation using the motion copying system normally operates. The viability of the proposed method is confirmed by experiments.
AB - In order to realize communication and broadcasting of haptic information, bilateral control with communication time delay is important element. The paper proposes a novel bilateral control method for communication time delay. To compensate the effect of communication time delay, the proposed method applies a motion copying system. The motion copying system is able to save and reproduce motion of human operator. The reproduced position and force by the motion copying system corresponds to saved position and force. The motion copying system copies local motion to other side, in order to realize compensation of communication time delay. The paper confirms that the communication time delay compensation using the motion copying system normally operates. The viability of the proposed method is confirmed by experiments.
UR - http://www.scopus.com/inward/record.url?scp=63149115278&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63149115278&partnerID=8YFLogxK
U2 - 10.1109/IECON.2008.4758213
DO - 10.1109/IECON.2008.4758213
M3 - Conference contribution
AN - SCOPUS:63149115278
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1718
EP - 1723
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
ER -