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

Atsushi Suzuki, Kouhei Ohnishi

Research output: Contribution to journalArticle

3 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 languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume131
Issue number3
DOIs
Publication statusPublished - 2011

Fingerprint

Remote control
Time delay
Tuning
Communication
Compensation and Redress

Keywords

  • Bilateral teleoperation
  • Communication disturbance observer
  • Operationality
  • Reproducibility
  • Stability
  • Time delay

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer. / Suzuki, Atsushi; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 131, No. 3, 2011.

Research output: Contribution to journalArticle

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