Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer

Atsushi Suzuki, Kouhei Ohnishi

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

8 Citations (Scopus)

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 languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages524-529
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Suzuki, A., & Ohnishi, K. (2010). Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 524-529). [5464075] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464075