This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force, is generated in time-delayed 4-channel bilateral control, and a method for calculating the force is proposed. Furthermore, well-known conventional time-delay compensation methods, 3-channel bilateral control and CDOB, are interpreted from the view of communicative operational force. The validity of the proposed method is verified by some experiments.
|Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
|Institute of Electrical and Electronics Engineers Inc.
|Published - 2014 2月 24
|40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
継続期間: 2014 10月 30 → 2014 11月 1
|40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
|14/10/30 → 14/11/1
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