Time delay compensation in bilateral teleoperation systems

Kenji Natori, Kouhei Ohnishi

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

7 Citations (Scopus)

Abstract

Time delay in bilateral teleoperation systems is inevitable and very serious problem. It possibly destabilize systems and deteriorates the performance of systems. Many researches about time delay in bilateral teleoperation systems have been proposed so far. In such a situation, authors have proposed a time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). It can stabilize time delayed bilateral systems. Furthermore since the method does not need delay time model, it is applicable to the case with time-varing or fluctuant time delay like that of Internet. In this paper, a new design method (or condition) of cutoff frequency of low pass filter (LPF) in CDOB considering approximated poles of ND is proposed. The validity of proposed design method (or condition) is verified by simulation results.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics, ICM
Pages601-606
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
Duration: 2006 Jul 32006 Jul 5

Other

Other2006 IEEE International Conference on Mechatronics, ICM
CountryHungary
CityBudapest
Period06/7/306/7/5

Fingerprint

Remote control
Time delay
Communication
Low pass filters
Cutoff frequency
Poles
Compensation and Redress
Internet

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Natori, K., & Ohnishi, K. (2006). Time delay compensation in bilateral teleoperation systems. In 2006 IEEE International Conference on Mechatronics, ICM (pp. 601-606). [4018429] https://doi.org/10.1109/ICMECH.2006.252594

Time delay compensation in bilateral teleoperation systems. / Natori, Kenji; Ohnishi, Kouhei.

2006 IEEE International Conference on Mechatronics, ICM. 2006. p. 601-606 4018429.

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

Natori, K & Ohnishi, K 2006, Time delay compensation in bilateral teleoperation systems. in 2006 IEEE International Conference on Mechatronics, ICM., 4018429, pp. 601-606, 2006 IEEE International Conference on Mechatronics, ICM, Budapest, Hungary, 06/7/3. https://doi.org/10.1109/ICMECH.2006.252594
Natori K, Ohnishi K. Time delay compensation in bilateral teleoperation systems. In 2006 IEEE International Conference on Mechatronics, ICM. 2006. p. 601-606. 4018429 https://doi.org/10.1109/ICMECH.2006.252594
Natori, Kenji ; Ohnishi, Kouhei. / Time delay compensation in bilateral teleoperation systems. 2006 IEEE International Conference on Mechatronics, ICM. 2006. pp. 601-606
@inproceedings{d8be4a5515f548f687dcdbb3eab75cf7,
title = "Time delay compensation in bilateral teleoperation systems",
abstract = "Time delay in bilateral teleoperation systems is inevitable and very serious problem. It possibly destabilize systems and deteriorates the performance of systems. Many researches about time delay in bilateral teleoperation systems have been proposed so far. In such a situation, authors have proposed a time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). It can stabilize time delayed bilateral systems. Furthermore since the method does not need delay time model, it is applicable to the case with time-varing or fluctuant time delay like that of Internet. In this paper, a new design method (or condition) of cutoff frequency of low pass filter (LPF) in CDOB considering approximated poles of ND is proposed. The validity of proposed design method (or condition) is verified by simulation results.",
author = "Kenji Natori and Kouhei Ohnishi",
year = "2006",
doi = "10.1109/ICMECH.2006.252594",
language = "English",
isbn = "0780397134",
pages = "601--606",
booktitle = "2006 IEEE International Conference on Mechatronics, ICM",

}

TY - GEN

T1 - Time delay compensation in bilateral teleoperation systems

AU - Natori, Kenji

AU - Ohnishi, Kouhei

PY - 2006

Y1 - 2006

N2 - Time delay in bilateral teleoperation systems is inevitable and very serious problem. It possibly destabilize systems and deteriorates the performance of systems. Many researches about time delay in bilateral teleoperation systems have been proposed so far. In such a situation, authors have proposed a time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). It can stabilize time delayed bilateral systems. Furthermore since the method does not need delay time model, it is applicable to the case with time-varing or fluctuant time delay like that of Internet. In this paper, a new design method (or condition) of cutoff frequency of low pass filter (LPF) in CDOB considering approximated poles of ND is proposed. The validity of proposed design method (or condition) is verified by simulation results.

AB - Time delay in bilateral teleoperation systems is inevitable and very serious problem. It possibly destabilize systems and deteriorates the performance of systems. Many researches about time delay in bilateral teleoperation systems have been proposed so far. In such a situation, authors have proposed a time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). It can stabilize time delayed bilateral systems. Furthermore since the method does not need delay time model, it is applicable to the case with time-varing or fluctuant time delay like that of Internet. In this paper, a new design method (or condition) of cutoff frequency of low pass filter (LPF) in CDOB considering approximated poles of ND is proposed. The validity of proposed design method (or condition) is verified by simulation results.

UR - http://www.scopus.com/inward/record.url?scp=34250838156&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250838156&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2006.252594

DO - 10.1109/ICMECH.2006.252594

M3 - Conference contribution

AN - SCOPUS:34250838156

SN - 0780397134

SN - 9780780397132

SP - 601

EP - 606

BT - 2006 IEEE International Conference on Mechatronics, ICM

ER -