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 publicationIECON Proceedings (Industrial Electronics Conference)
Pages1246-1251
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Other

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

Fingerprint

Remote control
Time delay
Communication
Damping
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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 IECON Proceedings (Industrial Electronics Conference) (pp. 1246-1251). [5675548] https://doi.org/10.1109/IECON.2010.5675548

Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay. / Tian, Dapeng; Yashiro, Daisuke; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2010. p. 1246-1251 5675548.

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

Tian, D, Yashiro, D & Ohnishi, K 2010, Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay. in IECON Proceedings (Industrial Electronics Conference)., 5675548, pp. 1246-1251, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675548
Tian D, Yashiro D, Ohnishi K. Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay. In IECON Proceedings (Industrial Electronics Conference). 2010. p. 1246-1251. 5675548 https://doi.org/10.1109/IECON.2010.5675548
Tian, Dapeng ; Yashiro, Daisuke ; Ohnishi, Kouhei. / Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay. IECON Proceedings (Industrial Electronics Conference). 2010. pp. 1246-1251
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