Bilateral teleoperation system taking communication blackout into account

Daisuke Yashiro, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel bilateral teleoperation system with communication delay is proposed. Master and slave controllers of proposed structure have compensators to deal with packet loss and communication blackout. In addition, two communication lines are used to transmit position and force information between master and slave. Proposed control structure has robustness against packet loss and communication blackout. If communication blackout occurs, bilateral teleoperation system works normally. The validity of the proposed method is shown by numerical and experimental results.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages1724-1729
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Yashiro, D., & Ohnishi, K. (2008). Bilateral teleoperation system taking communication blackout into account. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 1724-1729). [4758214] https://doi.org/10.1109/IECON.2008.4758214