NDLI: Multirate sampling method for bilateral control with communication bandwidth constraint

Content Provider	IEEE Xplore Digital Library
Author	Yashiro, D. Ohnishi, K.
Copyright Year	2009
Description	Author affiliation: Keio University, Department of System Design Engineering, Yokohama, Japan (Yashiro, D.; Ohnishi, K.)
Abstract	This paper proposes a multirate sampling method for bilateral control systems over network. In the proposed structure, packet-sending period is larger than control period of motor control. This packet contains position and force information that is transmitted between master side and slave side. In general, packet sending period is equal to control period. The reason comes from the fact that data size of this packet is so small that communication bandwidth between master and slave has not been considered. However, we confirmed a phenomenon that the smaller the packet-sending period, the larger the communication delay. Therefore relationship between packet-sending period and control period should be considered in order to design high transparent bilateral control systems. The validity of the proposed multirate sampling method is shown by numerical and experimental results.
Starting Page	1
Ending Page	6
File Size	1286960
Page Count	6
File Format	PDF
ISBN	9781424435067
DOI	10.1109/ICIT.2009.4939532
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sampling methods Communication system control Bandwidth Master-slave Control systems Delay effects Force control Design engineering Systems engineering and theory Motor drives
Content Type	Text
Resource Type	Article

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