Channel characteristic and stability condition of communication disturbance observer based bilateral teleoperation with time delay

Dapeng Tian, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

In this paper, the channel characteristic of communication disturbance observer (CDOB) based bilateral teleoperation system is analyzed. It is pointed out that this method is a tradeoff between the 4-channel and the 3-channel algorithm. By the analysis, it is visible that the CDOB based approach expresses a 3-channel dynamic characteristic, because the position channel gains are seriously weakened, and the force gains are amplified for the master side in low frequency domain. Besides, the stability condition analysis is carried out for the 3-channel structure and the CDOB based method, which is helpful to design the parameters for these methods. According to this, it is pointed out that there should be enough damping in master robot if contact occurs with hard environment. Experimental results prove the discussion.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ1246-1251
ページ数6
DOI
出版ステータスPublished - 2010 12 1
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11 72010 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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