抄録
In this article we report the experimental results and the evaluation of control and communication systems for bilateral tele-operation systems. The proposed system consists of simple mechanical parts, real-time control subsystems, tele-communication subsystems and network systems. The two mechanical systems can make communications each other via TCP/IP or UDP/IP network protocols, which has appreciable time delay (transmission delay). The proposed system overcomes the degradation caused by the time-delay with robust control theory. By using the proposed method we can construct stable bilateral tele-operation systems with simple control algorithms. We have implemented the algorithms on RT-Linux systems and made some experiments on the IP network systems of JGN (Japan Gigabit Network). As a conclusion we can obtain a robust and stable tele-operation systems against time delay up to 2 seconds and some probabilistic disturbances.
