多自由度異構造バイラテラル制御系の通信遅延補償法

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: 2014/03/01

タイトル(英語): Method of Time-Delay Compensation in Multi-Degree-of-Freedom Bilateral Control Systems with Different Configurations

著者名: 大野　嘉紀（慶応義塾大学理工学部システムデザイン工学科），嶌本　慶太（慶応義塾大学理工学部システムデザイン工学科），溝口　貴弘（慶応義塾大学理工学部システムデザイン工学科），大西　公平（慶応義塾大学理工学部システムデザイン工学科）

著者名(英語): Yoshiki Ohno (Department of System Design Engineering, Keio University), Keita Shimamoto (Department of System Design Engineering, Keio University), Takahiro Mizoguchi (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: ハプティクス，バイラテラル制御，通信遅延，通信外乱オブザーバ，作業空間　　haptics，bilateral control，time delay，communication disturbance observer，work space

要約(英語): In this paper, a time-delay compensation method based on work space communication disturbance observer (WCDOB) is proposed. Time delay degrades the stability of a control system. Communication disturbance observer (CDOB) has been proposed to solve this problem. However, CDOB cannot compensate for time delay in multi-degree-of-freedom bilateral control systems with different configurations, because the inertia of the robots is not fixed. In contrast, WCDOB can estimate the time delay based on work space information and compensate for them. The experimental results confirm the validity of the proposed method.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.3 （2014） 特集：産業計測自動制御，メカトロニクス制御

本誌掲載ページ: 317-324 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/134/3/134_317/_article/-char/ja/