Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay

Dapeng Tian, Daisuke Yashiro, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

In this paper, the channel characteristic of communication disturbance observer (CDOB) based bilateral teleoperation system is analyzed. It is pointed out that this method is a tradeoff between the 4-channel and the 3-channel algorithm. By the analysis, it is visible that the CDOB based approach expresses a 3-channel dynamic characteristic, because the position channel gains are seriously weakened, and the force gains are amplified for the master side in low frequency domain. Besides, the stability condition analysis is carried out for the 3-channel structure and the CDOB based method, which is helpful to design the parameters for these methods. According to this, it is pointed out that there should be enough damping in master robot if contact occurs with hard environment. Experimental results prove the discussion.

Original languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1246-1251
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Tian, D., Yashiro, D., & Ohnishi, K. (2010). Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 1246-1251). [5675548] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675548