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 Dec 1
Event2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
Duration: 2006 Jul 32006 Jul 5

Publication series

Name2006 IEEE International Conference on Mechatronics, ICM

Other

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

ASJC Scopus subject areas

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

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