A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer

Atsushi Suzuki; Kouhei Ohnishi

doi:10.1541/ieejias.131.244

A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer

Atsushi Suzuki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article

4 Citations (Scopus)

Abstract

Time delay of bilateral teleoperation seriously deteriorates the performance and stability. Time delay compensation by communication disturbance observer improves the operationality but simultaneously deteriorates the reproducibility of the environmental impedance. In this paper, we propose scaling down compensation value only in motion while in contact with an environment so that both good reproducibility and operationality can be achieved.

Original language	English
Pages (from-to)	244-251+3
Journal	ieej transactions on industry applications
Volume	131
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.131.244
Publication status	Published - 2011 Sep 8

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Keywords

Bilateral teleoperation
Communication disturbance observer
Operationality
Reproducibility
Stability
Time delay

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Cite this

Suzuki, A., & Ohnishi, K. (2011). A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer. ieej transactions on industry applications, 131(3), 244-251+3. https://doi.org/10.1541/ieejias.131.244

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10.1541/ieejias.131.244