Reproducibility and operationality in bilateral teleoperation under time delay

Atsushi Suzuki, Kouhei Ohnishi

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This study analyzes the performance of reproducibility and operationality in bilateral teleoperation under time delay. Acceleration-based bilateral control (ABC) is a hybrid of position control and force control in orthogonally- crossed two-modal space. This study analyzes the effect of each modal space on reproducibility and operationality. Based on this analysis, this paper proposes a novel four-channel (4ch) ABC design and the most appropriate controller gain values of the position and force controllers for balancing reproducibility and operationality taking the time delay effect into account. The validity of proposed system is demonstrated experimentally.

Original languageEnglish
Pages (from-to)738-746+10
Journalieej transactions on industry applications
Volume133
Issue number7
DOIs
Publication statusPublished - 2013 Jul 12

Keywords

  • Acceleration-based Bilateral Control (ABC)
  • Frequency-domain Damping Design (FDD)
  • Operationality
  • Reproducibility
  • Stability
  • Time delay

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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