Topology analysis of position information in multilateral communication system

This paper proposes the best topology in multilateral control system. Multilateral control system is a control system which enables to share tactile information between several subsystems. Specifically, every subsystems communicates position and force information each other to achieve control goal. As shown above, the information flow is bilateral in multilateral control, and when sharing haptic information between several remote places, there occurs delay time in each communication links. When there exists delay time inside control system, the system starts to destabilize and haptic information deteriorates. In order to prevent the deterioration of the information, the optimal topology regarding position information is realized in this paper. The proposed method can be applied to a system where the delay time of each communication links is different from each other. The validity of the proposal is confirmed by experiments, and the results show that the degradation of haptic sensation under communication delay is prevented.