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REMOTE CONTROL SYSTEM FOR TRANSMITTING AND RECEIVING SIGNALS VIA COMMUNICATION PATH HAVING COMMUNICATION DELAY

外国特許コード F060001434
整理番号 F060001434
掲載日 2006年6月2日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2005JP019483
国際公開番号 WO 2006/046500
国際出願日 平成17年10月24日(2005.10.24)
国際公開日 平成18年5月4日(2006.5.4)
優先権データ
  • 特願2004-315391 (2004.10.29) JP
発明の名称 (英語) REMOTE CONTROL SYSTEM FOR TRANSMITTING AND RECEIVING SIGNALS VIA COMMUNICATION PATH HAVING COMMUNICATION DELAY
発明の概要(英語) A master (1) and a slave (2) are connected to each other via a communication path, suchas Internet, having a communication delay. This communication delay can be expressedby a wasted time element e-Ts and it can be considered that an affectioncaused by this wasted time is an affection caused by a disturbance of accelerationdimension (force dimension) added to the slave. A communication disturbanceobserver (4) estimates, from a force signal F and a velocity sXe-Ts, thecommunication disturbance F(1 - e-Ts) added to the slave. This communicationdisturbance is multiplied by 1/Jns (where Jn is an inertialcoefficient (nominal value) at the slave) to obtain sX(1 - e-Ts), whichis then added to sXe-Ts. In this way, sX, in which the communication delayhas been compensated for, can be obtained to compensate for the affection causedby the wasted time. Moreover, a disturbance observer (5) is provided, therebycompensating for a disturbance Fdis added to the slave.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • Keio University
  • 発明者(英語)
  • Ohnishi, Kouhei
  • Tsuji, Toshiaki
  • Natori, Kenji
国際特許分類(IPC)
指定国 AE AG AL AM AT AU AZ BA BB BE BF BG BJ BR BW BY BZ CA CF CG CH CI CM CN CO CR CU CY CZ DE DK DM DZ EC EE EG ES FI FR GA GB GD GE GH GM GN GQ GR GW HR HU ID IE IL IN IS IT JP KE KG KM KP KR KZ LC LK LR LS LT LU LV LY MA MC MD MG MK ML MN MR MW MX MZ NA NE NG NI NL NO NZ OM PG PH PL PT RO RU SC SD SE SG SI SK SL SM SN SY SZ TD TG TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW
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