波変数に基づくバイラテラル制御における機械学習を用いた遅れ補償

抄録

The master-slave system with time delay causes overshoot of the position response of the slave arm, so it is difficult to apply it to applications requiring precise operation such as remote surgery. In this paper, we propose a master trajectory predictor to reduce the influence of time delay and to suppress overshoot of position. We use LSTM model which is one of machine learning algorithms, to predict the position of the master. We report the results of the trajectory prediction using the proposed method for using a degree of freedom master device driven by pneumatic cylinder.