Title :
Bilateral control using compressor/decompressor under the low-rate communication network
Author :
Yokokura, Yuki ; Katsura, Seiichiro ; Ohishi, Kiyoshi
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama
Abstract :
The paper proposes the transfer technique of haptic information under the narrow-band network. The bilateral controller through the low-rate network encounters the influence. In this paper, the compressors and the decompressors is implemented to the bilateral controller based on a motion copying system in order to solve the problems. The data compressors reduce an amount of the data, which flows between a master system and a slave system in the bilateral controller. The reaction force between the master and the slave becomes stable even if the data transfer rate is low in the network. The paper confirms that the bilateral controller using the compressors and the decompressors normally operates. The viability of the proposed method is confirmed by experiments.
Keywords :
data compression; telecommunication control; bilateral control; data compressor; data decompressor; data transfer rate; haptic information; low-rate communication network; motion copying system; narrow-band network; transfer technique; Communication networks; Communication system control; Control systems; Delay effects; Design engineering; Haptic interfaces; Information technology; Master-slave; Motion control; Systems engineering and theory;
Conference_Titel :
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location :
Malaga
Print_ISBN :
978-1-4244-4194-5
Electronic_ISBN :
978-1-4244-4195-2
DOI :
10.1109/ICMECH.2009.4957189