Transparency issues of acceleration waves

Baris Yalcin, Kouhei Ohnishi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper presents acceleration-wave-based data transmission and control model to improve performance in terms of transparency and perception bandwidth for time-delayed teleoperation mechanisms. Four channel wave transmission structure provides direct force and velocity feedbacks to each robot by asymmetric damping. Wave data is decomposed into acceleration terms and employed in acceleration control with scaling of both of the force and position-based acceleration dimensions. Neither in wave space nor in control space, perception-bandwidth-limiting filters are not used. We have analyzed the system for transparency and compared the results with previous models.

Original languageEnglish
Pages3174-3180
Number of pages7
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Yalcin, B., & Ohnishi, K. (2009). Transparency issues of acceleration waves. 3174-3180. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415304