Filter design of multilateral control under time delay for tele-teaching by hand

Hidetaka Morimitsu; Seiichiro Katsura

doi:10.1109/AMC.2014.6823264

Filter design of multilateral control under time delay for tele-teaching by hand

Hidetaka Morimitsu, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments.

Original language	English
Title of host publication	2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	98-103
Number of pages	6
ISBN (Print)	9781479923243
DOIs	https://doi.org/10.1109/AMC.2014.6823264
Publication status	Published - 2014 Jan 1
Event	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan Duration: 2014 Mar 14 → 2014 Mar 16

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Country/Territory	Japan
City	Yokohama
Period	14/3/14 → 14/3/16

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AMC.2014.6823264

Cite this

Morimitsu, H., & Katsura, S. (2014). Filter design of multilateral control under time delay for tele-teaching by hand. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 98-103). Article 6823264 (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823264

Filter design of multilateral control under time delay for tele-teaching by hand. / Morimitsu, Hidetaka; Katsura, Seiichiro.
2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 98-103 6823264 (International Workshop on Advanced Motion Control, AMC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Morimitsu, H & Katsura, S 2014, Filter design of multilateral control under time delay for tele-teaching by hand. in 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014., 6823264, International Workshop on Advanced Motion Control, AMC, Institute of Electrical and Electronics Engineers Inc., pp. 98-103, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823264

@inproceedings{fca4b30a1bdf4f3fb4041747a74bfd45,

title = "Filter design of multilateral control under time delay for tele-teaching by hand",

abstract = "This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments.",

author = "Hidetaka Morimitsu and Seiichiro Katsura",

year = "2014",

month = jan,

day = "1",

doi = "10.1109/AMC.2014.6823264",

language = "English",

isbn = "9781479923243",

series = "International Workshop on Advanced Motion Control, AMC",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "98--103",

booktitle = "2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014",

note = "2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 ; Conference date: 14-03-2014 Through 16-03-2014",

}

TY - GEN

T1 - Filter design of multilateral control under time delay for tele-teaching by hand

AU - Morimitsu, Hidetaka

AU - Katsura, Seiichiro

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments.

AB - This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments.

UR - http://www.scopus.com/inward/record.url?scp=84903146448&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903146448&partnerID=8YFLogxK

U2 - 10.1109/AMC.2014.6823264

DO - 10.1109/AMC.2014.6823264

M3 - Conference contribution

AN - SCOPUS:84903146448

SN - 9781479923243

T3 - International Workshop on Advanced Motion Control, AMC

SP - 98

EP - 103

BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014

Y2 - 14 March 2014 through 16 March 2014

ER -

Filter design of multilateral control under time delay for tele-teaching by hand

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this