TY - JOUR
T1 - Performance analysis of bilateral control system with communication bandwidth constraint
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
N1 - Funding Information:
Manuscript received July 1, 2009; revised November 20, 2009 and February 15, 2010; accepted May 12, 2010. Date of publication June 10, 2010; date of current version January 12, 2011. This paper was presented in part at the IEEE International Conference on Industrial Technology, Churhchill, Australia, February 11, 2009. This work was supported in part by the Ministry of Education, Culture, Sports, Science and Technology under a grant-in-aid for the Japan Society for the Promotion of Science Fellows (21 · 55552).
PY - 2011/2
Y1 - 2011/2
N2 - It is difficult to realize a transparent bilateral control over network because communication time delay, jitter, or packet loss deteriorates transparency and stability. Although many dead time compensation methods have been considered, each approach does not realize both high transparency and stability. To solve the problem, our previous work has proposed a multirate sampling method for bilateral control systems. In this approach, packet-sending period tp is set to larger than the control period of the master/slave robot control tc. This method has an advantage to improve the transparency because large tp often reduces communication delays. However, that work has not shown the relationship between the transparency and the value of tp. Therefore, this paper analyzes the relationship between the transparency and tp by introducing frequency characteristic of an ideal sampler and a zero-order holder. In addition, the validity of the analysis is shown by experimental results.
AB - It is difficult to realize a transparent bilateral control over network because communication time delay, jitter, or packet loss deteriorates transparency and stability. Although many dead time compensation methods have been considered, each approach does not realize both high transparency and stability. To solve the problem, our previous work has proposed a multirate sampling method for bilateral control systems. In this approach, packet-sending period tp is set to larger than the control period of the master/slave robot control tc. This method has an advantage to improve the transparency because large tp often reduces communication delays. However, that work has not shown the relationship between the transparency and the value of tp. Therefore, this paper analyzes the relationship between the transparency and tp by introducing frequency characteristic of an ideal sampler and a zero-order holder. In addition, the validity of the analysis is shown by experimental results.
KW - Bilateral control
KW - communication bandwidth constraint
KW - delay
KW - multirate sampling
KW - network
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U2 - 10.1109/TIE.2010.2051937
DO - 10.1109/TIE.2010.2051937
M3 - Article
AN - SCOPUS:78651372346
SN - 0278-0046
VL - 58
SP - 436
EP - 443
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 2
M1 - 5483200
ER -