TY - GEN
T1 - Bilateral teleoperation system taking communication blackout into account
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2008/1/1
Y1 - 2008/1/1
N2 - In this paper, a novel bilateral teleoperation system with communication delay is proposed. Master and slave controllers of proposed structure have compensators to deal with packet loss and communication blackout. In addition, two communication lines are used to transmit position and force information between master and slave. Proposed control structure has robustness against packet loss and communication blackout. If communication blackout occurs, bilateral teleoperation system works normally. The validity of the proposed method is shown by numerical and experimental results.
AB - In this paper, a novel bilateral teleoperation system with communication delay is proposed. Master and slave controllers of proposed structure have compensators to deal with packet loss and communication blackout. In addition, two communication lines are used to transmit position and force information between master and slave. Proposed control structure has robustness against packet loss and communication blackout. If communication blackout occurs, bilateral teleoperation system works normally. The validity of the proposed method is shown by numerical and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=63149108510&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63149108510&partnerID=8YFLogxK
U2 - 10.1109/IECON.2008.4758214
DO - 10.1109/IECON.2008.4758214
M3 - Conference contribution
AN - SCOPUS:63149108510
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1724
EP - 1729
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
ER -