Robust four channel teleoperation under time delay by damping injection

Ugur Tumerdem, Kouhei Ohnishi

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

6 Citations (Scopus)

Abstract

This paper presents an augmented 4 channel architecture for stable teleoperation under time delay by using damping injection on each robot. The 4 channel architecture is optimized for good performance, but can easily become unstable under delay. By introducing local damping to the robots, we can obtain a 4 channel teleoperation architecture which is more robust against time delays. By using the hybrid matrix and the network stability parameter based on Llewelleyn's Absolute Stability criterion, we show that local damping makes the 4 channel teleoperation much more stable even under time delay. We also analyze the transparency of this system. Furthermore we confirm the validity of our approach with experiments on a teleoperator system which is stable under time delay.

Original languageEnglish
Title of host publicationIEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs
Publication statusPublished - 2009 Jul 17
EventIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
Duration: 2009 Apr 142009 Apr 17

Publication series

NameIEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
CountrySpain
CityMalaga
Period09/4/1409/4/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Tumerdem, U., & Ohnishi, K. (2009). Robust four channel teleoperation under time delay by damping injection. In IEEE 2009 International Conference on Mechatronics, ICM 2009 [4957229] (IEEE 2009 International Conference on Mechatronics, ICM 2009). https://doi.org/10.1109/ICMECH.2009.4957229