Bilateral teleoperation under time-varying communication time delay considering contact with environment

Noriko Iiyama, Kenji Natori, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

With recent popularization of the Internet, bilateral control systems which are robust to fluctuant and unpredictable time delay are desirable. In such a situation, communication disturbance observer (CDOB) has been proposed as a control method for fluctuant and unpredictable time delay in bilateral teleoperation. It compensates time delay using disturbance observer by considering the effect of communication delay on the system as acceleration dimensional disturbance. Since this method cannot separate network disturbance from contact force exerted on a slave, force response of the slave transmitted to the master side is not precise. This paper presents a method for separating network disturbance from the contact force exerted on the slave. By producing the compensation value using separated network disturbance, the force response value of the slave is transmitted to the master side more precisely. The validity of the proposed method is verified by experimental results.

Original languageEnglish
Pages (from-to)1050-1056+3
Journalieej transactions on industry applications
Volume127
Issue number10
DOIs
Publication statusPublished - 2007 Dec 1

Keywords

  • Acceleration control
  • Bilateral control
  • Communication delay
  • Communication disturbance observer
  • Haptics
  • Teleoperation

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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