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

Kenji Natori; Ryogo Kubo; Kouhei Ohnishi

doi:10.1109/ISIE.2008.4677232

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

Kenji Natori, Ryogo Kubo, Kouhei Ohnishi

Department of Electronics and Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Pages	1287-1292
Number of pages	6
DOIs	https://doi.org/10.1109/ISIE.2008.4677232
Publication status	Published - 2008
Event	2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom Duration: 2008 Jun 30 → 2008 Jul 2

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Country/Territory	United Kingdom
City	Cambridge
Period	08/6/30 → 08/7/2

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.2008.4677232

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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

Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer. / Natori, Kenji; Kubo, Ryogo; Ohnishi, Kouhei.

2008 IEEE International Symposium on Industrial Electronics, ISIE 2008. 2008. p. 1287-1292 4677232 (IEEE International Symposium on Industrial Electronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4677232, IEEE International Symposium on Industrial Electronics, pp. 1287-1292, 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008, Cambridge, United Kingdom, 08/6/30. https://doi.org/10.1109/ISIE.2008.4677232

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

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