TY - GEN
T1 - Elimination of reactive operational force in bilateral control system under time delay
AU - Kozuki, Ryohei
AU - Ogawa, Kenji
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - In this paper, the method which eliminates the reactive operational force in bilateral control system under time delay is proposed. In bilateral control system under time delay, an operator feels large operational force. In addition to that, amplitude of response increases and it makes system unstable. In this paper, the proposed method eliminates this increasing. Therefore, operationality in free motion is improved. To solve this problem, reactive operational force is introduced which is calculated by using power factor in mechanical system. Power factor in mechanical system is derived from power factor in electrical system. Then, the concept of power factor is explained. In this research, only free motion is considered. Then, contact motion should be considered in future work. The performances of the previous method and the proposed method are evaluated through experiments.
AB - In this paper, the method which eliminates the reactive operational force in bilateral control system under time delay is proposed. In bilateral control system under time delay, an operator feels large operational force. In addition to that, amplitude of response increases and it makes system unstable. In this paper, the proposed method eliminates this increasing. Therefore, operationality in free motion is improved. To solve this problem, reactive operational force is introduced which is calculated by using power factor in mechanical system. Power factor in mechanical system is derived from power factor in electrical system. Then, the concept of power factor is explained. In this research, only free motion is considered. Then, contact motion should be considered in future work. The performances of the previous method and the proposed method are evaluated through experiments.
UR - http://www.scopus.com/inward/record.url?scp=84929379921&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929379921&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7084040
DO - 10.1109/ICMECH.2015.7084040
M3 - Conference contribution
AN - SCOPUS:84929379921
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 574
EP - 579
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -