バイラテラル遠隔操作における伝送データ適正化手法

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/03/01

タイトル(英語): Optimization of Transmission Data in Bilateral Teleoperation

著者名: 水落　麻里子（（株）日立製作所 日立研究所），大西　公平（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Mariko Mizuochi (Hitachi Research Laboratory, Hitachi, Ltd.), Kouhei Ohnishi (Dep. of System Design Eng., Keio University)

キーワード: バイラテラル制御，符号化，ネットワークベースシステム，透明性，ディジタル制御，高精度制御　　bilateral control，coding，networked control system，transparency，discrete-time control，high precision control

要約(英語): The objective of this study is to achieve precise bilateral teleoperation with wide-band haptic sensations even under limitation on a packet transmission rate. Because a wide-band signal is essential for the reproduction of wide-band haptic sensation, a coding scheme using a low-pass filter and discrete Fourier transform was applied to signal transmission between the master and the slave to transmit the wide-band signal independently from the packet transmission rate. Although the bandwidth is widened with a small delay, the calculation cost and the transmission packet size increase with the scheme. A method for reducing the calculation cost and the transmission packet size while maintaining high performance was then proposed on the basis of the analysis on the influence of the bandwidth limitation of each signal on the bilateral teleoperation performance. In this method, the bandwidth of the transmission signal is determined independently for each signal on the basis of the degree of the influence, and priority is given to the transmission of wide-band components of a signal on which bandwidth limitation imposes a large influence. The validity of the proposed method was experimentally verified.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.3 （2013） 特集：産業計測制御全般

本誌掲載ページ: 314-319 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/133/3/133_314/_article/-char/ja/