TY - GEN
T1 - Considering transmission period via network for tele-haptics
AU - Kawamura, Yusuke
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/2/24
Y1 - 2014/2/24
N2 - In haptic communication via the network, transmission period is not able to be designed uniquely since it restricted by the line bandwidth, transmission protocol, hardware constraints and so on. To address this problem, downsampling is often employed. Additionally, to enhance the performance of downsampled system, multirate control is proposed. However, the quantitative analysis on downsampling and multirate control are not treated. Therefore, this paper treats downsampling and multirate control system, and performs quantitative analysis by using hybrid parameter. In order to reveal the most effective combination of holder and single or multirate, holders (ZOH, DFOH and PFOH) are considered explicitly, and it is formulated to Laplace domain. The effectiveness of each combination is verified through experiments.
AB - In haptic communication via the network, transmission period is not able to be designed uniquely since it restricted by the line bandwidth, transmission protocol, hardware constraints and so on. To address this problem, downsampling is often employed. Additionally, to enhance the performance of downsampled system, multirate control is proposed. However, the quantitative analysis on downsampling and multirate control are not treated. Therefore, this paper treats downsampling and multirate control system, and performs quantitative analysis by using hybrid parameter. In order to reveal the most effective combination of holder and single or multirate, holders (ZOH, DFOH and PFOH) are considered explicitly, and it is formulated to Laplace domain. The effectiveness of each combination is verified through experiments.
KW - Bilateral control system
KW - Downsampling
KW - Multirate control
KW - Real-world haptics
KW - Tele-haptics
UR - http://www.scopus.com/inward/record.url?scp=84949927097&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84949927097&partnerID=8YFLogxK
U2 - 10.1109/IECON.2014.7048891
DO - 10.1109/IECON.2014.7048891
M3 - Conference contribution
AN - SCOPUS:84949927097
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2718
EP - 2723
BT - IECON Proceedings (Industrial Electronics Conference)
PB - Institute of Electrical and Electronics Engineers Inc.
ER -