通信遅延とジャークに基づく軌道修正と完全追従制御による遠隔アクチュエータの操作性改善

抄録

In recent years, the need for robots and IoT devices that can be operated remotely has been increasing against the backdrop of labor shortages and changes in work styles. However, when remotely operating actuators of robots and IoT devices via a communication network, there is a problem that operability deteriorates due to communication delays. This paper proposes a control method that improves operability by correcting the trajectory of actuators in response to communication delays, and reports on the effectiveness of the method through experimental verification.