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Safety Control of Teleoperation System under Time Varying Communication Delay
https://sucra.repo.nii.ac.jp/records/9319
https://sucra.repo.nii.ac.jp/records/9319d6c620da-de1d-402b-bed7-f51a4bbddb10
名前 / ファイル | ライセンス | アクション |
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A1002441.pdf (511.5 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | Safety Control of Teleoperation System under Time Varying Communication Delay | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
辻, 俊明
× 辻, 俊明× 加藤, 敦× 大西, 公平 |
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著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
Kato, Atsushi | ||||||
著者 ローマ字 | ||||||
Ohniishi, Kouhei | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop p. 463-468, 発行日 2004 |
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年月次 | ||||||
2004-3 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/AMC.2004.1297913 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes the safe control method on bilateral control system. The control stability in bilateral control under time variance communication delay does not always stand for operation safety. Local controller is needed to secure the safety when communication delay becomes large. A novel method to change over the local controller and global bilateral controller due to communication delay is suggested. At the same time, the stability of global bilateral control is also assured with the conventional stability assurance method. Experimental system that joints manipulators in Slovenia and Japan is constructed. The validity of the suggested method is shown with this experimental system. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
作成日 | ||||||
日付 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002441 |