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

Atsushi Suzuki; Kouhei Ohnishi

doi:10.1109/AMC.2010.5464075

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

Atsushi Suzuki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages	524-529
Number of pages	6
DOIs	https://doi.org/10.1109/AMC.2010.5464075
Publication status	Published - 2010 Jun 25
Event	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Country	Japan
City	Nagaoka, Niigata
Period	10/3/21 → 10/3/24

ASJC Scopus subject areas

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

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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

Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer. / Suzuki, Atsushi; Ohnishi, Kouhei.

AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings. 2010. p. 524-529 5464075 (International Workshop on Advanced Motion Control, AMC).

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

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., 5464075, International Workshop on Advanced Motion Control, AMC, pp. 524-529, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464075

Suzuki A, Ohnishi K. 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. 2010. p. 524-529. 5464075. (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464075

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

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