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.
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering