Method for bandwidth compression and transmission of environmental information in bilateral teleoperation

Ryogo Kubo, Kouhei Ohnishi

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

In this paper, a novel method for bandwidth compression and transmission of environmental information is proposed for bilateral teleoperation systems with multiple degrees of freedom (MDOF). In this method, environmental information, i.e., the position of end-effectors and the reaction force exerted on them, is converted into environmental modes by using discrete Fourier transform (DFT) matrices. The environmental modes to be transmitted are then selected on the basis of the communication bandwidth between master and slave robots. Bilateral control is achieved in low-frequency modal spaces, and local position control is achieved in high-frequency modal spaces. The validity of the proposed method is confirmed by performing an experiment.

Original languageEnglish
Pages (from-to)319-324+11
Journalieej transactions on industry applications
Volume129
Issue number3
DOIs
Publication statusPublished - 2009 Apr 30

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Keywords

  • Bandwidth compression
  • Bilateral control
  • Discrete Fourier transform (DFT)
  • Haptics
  • Mode transformation

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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