TY - GEN
T1 - RTLinux based bilateral control system with time delay over network
AU - Kato, Atsushi
AU - Ohnishi, Kouhei
PY - 2005
Y1 - 2005
N2 - In this paper, bilateral control system over networks is discussed and transmission delay issues are considered. This paper concerns on two subjects relating to transmission delay. The first one is how to realize real-time network transmission. Both systems; master and slave system run in RTLinux that is based on real time operating system. Thus, both systems should be connected to network device in real time as well. The other one is bilateral control system with transmission delay. In this paper, bilateral control system composed of disturbance observer and reaction force estimation observer is proposed. And the disturbance force from transmission time delay is compensated by disturbance observer. The validity of proposed control architecture is shown by experimental results.
AB - In this paper, bilateral control system over networks is discussed and transmission delay issues are considered. This paper concerns on two subjects relating to transmission delay. The first one is how to realize real-time network transmission. Both systems; master and slave system run in RTLinux that is based on real time operating system. Thus, both systems should be connected to network device in real time as well. The other one is bilateral control system with transmission delay. In this paper, bilateral control system composed of disturbance observer and reaction force estimation observer is proposed. And the disturbance force from transmission time delay is compensated by disturbance observer. The validity of proposed control architecture is shown by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=33748364130&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33748364130&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2005.1529199
DO - 10.1109/ISIE.2005.1529199
M3 - Conference contribution
AN - SCOPUS:33748364130
SN - 0780387384
SN - 9780780387386
T3 - IEEE International Symposium on Industrial Electronics
SP - 1763
EP - 1768
BT - Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
T2 - IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Y2 - 20 June 2005 through 23 June 2005
ER -