Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Kenji Natori, Ryogo Kubo, Kouhei Ohnishi

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

10 Citations (Scopus)

Abstract

This paper discusses the effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer (CDOB). A time delay compensation method based on the concept of network disturbance (ND) and CDOB is a novel and efficient for time delay compensation of time delayed bilateral teleoperation systems. Besides, transparency is one of useful performance evaluation indices of bilateral systems. In this paper, the effects of controller parameters on a specific definition of transparency for time delayed cases are discussed. At first, the effects of controller parameters on the transparency are analyzed. Then the validity of the analytical results is verified by simulation results.

Original languageEnglish
Title of host publication2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Pages1287-1292
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 29
Event2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
Duration: 2008 Jun 302008 Jul 2

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
CountryUnited Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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    Natori, K., Kubo, R., & Ohnishi, K. (2008). Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer. In 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 (pp. 1287-1292). [4677232] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2008.4677232