Transparency issues of acceleration waves

Baris Yalcin, Kouhei Ohnishi

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

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages3174-3180
Number of pages7
DOIs
Publication statusPublished - 2009
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

Fingerprint

Transparency
Acceleration control
Bandwidth
Wave transmission
Remote control
Data communication systems
Damping
Robots
Feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yalcin, B., & Ohnishi, K. (2009). Transparency issues of acceleration waves. In IECON Proceedings (Industrial Electronics Conference) (pp. 3174-3180). [5415304] https://doi.org/10.1109/IECON.2009.5415304

Transparency issues of acceleration waves. / Yalcin, Baris; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2009. p. 3174-3180 5415304.

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

Yalcin, B & Ohnishi, K 2009, Transparency issues of acceleration waves. in IECON Proceedings (Industrial Electronics Conference)., 5415304, pp. 3174-3180, 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal, 09/11/3. https://doi.org/10.1109/IECON.2009.5415304
Yalcin B, Ohnishi K. Transparency issues of acceleration waves. In IECON Proceedings (Industrial Electronics Conference). 2009. p. 3174-3180. 5415304 https://doi.org/10.1109/IECON.2009.5415304
Yalcin, Baris ; Ohnishi, Kouhei. / Transparency issues of acceleration waves. IECON Proceedings (Industrial Electronics Conference). 2009. pp. 3174-3180
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