TY - GEN
T1 - Time delay compensation in bilateral teleoperation systems
AU - Natori, Kenji
AU - Ohnishi, Kouhei
PY - 2006/12/1
Y1 - 2006/12/1
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
T3 - 2006 IEEE International Conference on Mechatronics, ICM
SP - 601
EP - 606
BT - 2006 IEEE International Conference on Mechatronics, ICM
T2 - 2006 IEEE International Conference on Mechatronics, ICM
Y2 - 3 July 2006 through 5 July 2006
ER -