Transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Kenji Natori, Ryogo Kubo, Kouhei Ohnishi

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

11 Citations (Scopus)

Abstract

Time delay in bilateral teleoperation systems seriously deteriorates the performance and possibly affects the stability. A novel time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed and the validity has been verified by simulation and experimental results so far. However the validity of the time delay compensation method on performance has not been analyzed. This paper presents analysis of the validity of the time delay compensation method on performance. The analysis is discussed based on performance index of bilateral teleoperation systems, transparency. The analytical results are verified by simulation results.

Original languageEnglish
Title of host publicationProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOIs
Publication statusPublished - 2007
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Other

Other4th IEEE International Conference on Mechatronics, ICM 2007
CountryJapan
CityKumamoto
Period07/5/807/5/10

Fingerprint

Remote control
Transparency
Time delay
Communication
Compensation and Redress

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Natori, K., Kubo, R., & Ohnishi, K. (2007). Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. In Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007 [4280035] https://doi.org/10.1109/ICMECH.2007.4280035

Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. / Natori, Kenji; Kubo, Ryogo; Ohnishi, Kouhei.

Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007. 2007. 4280035.

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

Natori, K, Kubo, R & Ohnishi, K 2007, Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. in Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007., 4280035, 4th IEEE International Conference on Mechatronics, ICM 2007, Kumamoto, Japan, 07/5/8. https://doi.org/10.1109/ICMECH.2007.4280035
Natori K, Kubo R, Ohnishi K. Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. In Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007. 2007. 4280035 https://doi.org/10.1109/ICMECH.2007.4280035
Natori, Kenji ; Kubo, Ryogo ; Ohnishi, Kouhei. / Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007. 2007.
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