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
PublisherIEEE Computer Society
Pages1724-1729
Number of pages6
ISBN (Print)9781424417667
DOIs
Publication statusPublished - 2008 Jan 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    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] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758214