遅延を伴う双方向遠隔操作システムの研究-見回し遅延による追従特性への影響-

北川 裕也; 山本 皓也; 中島 悟; 荻野 翔矢; 汐月 哲夫

doi:10.11511/jacc.59.0_35

THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : ThA2-4

DOI https://doi.org/10.11511/jacc.59.0_35

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences, The Institute of Electrical Engineers of Japan

Co-host: Technically Cosponsored by 51 Societies and Institutes

Name : THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Location : [in Japanese]

Date : November 10, 2016 - November 12, 2016

Study of Bilateral Teleoperation System with Delay -Influence of Delay in Look Around on Tracking Characteristic of a Human Operator.-

*Y. Kitagwa, K. Yamamoto, S. Satoru, S. Ogino, T. Shiotsuki

Author information

Keywords: Head Mounted Display, Delay in look around on tracking

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

In recent years, there are many works with respect to teleoperation system. However, there are still many difficult problems to solve. One significant problem is communication delays between operator and environment through the network. The delay makes control system unstable. This problem was improved by robust control theory.But delay it self is never vaished and affects operability. In general, feedback of information has potential for improve operability. We focus on the visual information using Head Mounted Display. In this paper, We created a Head Rotation Tracking System for teleoperation system, with HMD and pan-tilt-camera. And measure an Influence of delay when look around in Head Rotation Tracking System on traking characteristic of human operator.

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