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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages524-529
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Disturbance Observer
Teleoperation
Remote control
Conditioning
Reproducibility
Disturbance
Scaling
Time Delay
Time delay
Communication
Impedance
Robot
Control System
Contact
Robots
Control systems
Motion
Compensation and Redress
Experimental Results
Range of data

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 proceedingConference contribution

Suzuki, A & Ohnishi, K 2010, Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer. in International Workshop on Advanced Motion Control, AMC., 5464075, 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, Atsushi ; Ohnishi, Kouhei. / Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer. International Workshop on Advanced Motion Control, AMC. 2010. pp. 524-529
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