A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer

Atsushi Suzuki, Kouhei Ohnishi

研究成果: Article査読

5 被引用数 (Scopus)

抄録

Time delay of bilateral teleoperation seriously deteriorates the performance and stability. Time delay compensation by communication disturbance observer improves the operationality but simultaneously deteriorates the reproducibility of the environmental impedance. In this paper, we propose scaling down compensation value only in motion while in contact with an environment so that both good reproducibility and operationality can be achieved.

本文言語English
ページ(範囲)244-251+3
ジャーナルieej transactions on industry applications
131
3
DOI
出版ステータスPublished - 2011

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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