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 |
|---|---|
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 131 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2011 |
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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 journal › Article
}
TY - JOUR
T1 - A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer
AU - Suzuki, Atsushi
AU - Ohnishi, Kouhei
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - Bilateral teleoperation
KW - Communication disturbance observer
KW - Operationality
KW - Reproducibility
KW - Stability
KW - Time delay
UR - http://www.scopus.com/inward/record.url?scp=80052376065&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052376065&partnerID=8YFLogxK
U2 - 10.1541/ieejias.131.244
DO - 10.1541/ieejias.131.244
M3 - Article
VL - 131
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 3
ER -