Abstract
Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the "Operationality" of master robot but simultaneously deteriorates "Reproducibility" of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 524-529 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24 |
Other
| Other | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 |
|---|---|
| Country | Japan |
| City | Nagaoka, Niigata |
| Period | 10/3/21 → 10/3/24 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Computer Science Applications
- Modelling and Simulation
Cite this
Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer. / Suzuki, Atsushi; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. 2010. p. 524-529 5464075.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer
AU - Suzuki, Atsushi
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the "Operationality" of master robot but simultaneously deteriorates "Reproducibility" of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.
AB - Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the "Operationality" of master robot but simultaneously deteriorates "Reproducibility" of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=77953784976&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953784976&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464075
DO - 10.1109/AMC.2010.5464075
M3 - Conference contribution
AN - SCOPUS:77953784976
SN - 9781424466696
SP - 524
EP - 529
BT - International Workshop on Advanced Motion Control, AMC
ER -