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 Dec 1
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Publication series

NameProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • 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] (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007). https://doi.org/10.1109/ICMECH.2007.4280035