Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Kenji Natori, Ryogo Kubo, Kouhei Ohnishi

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

This paper discusses the effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer (CDOB). A time delay compensation method based on the concept of network disturbance (ND) and CDOB is a novel and efficient for time delay compensation of time delayed bilateral teleoperation systems. Besides, transparency is one of useful performance evaluation indices of bilateral systems. In this paper, the effects of controller parameters on a specific definition of transparency for time delayed cases are discussed. At first, the effects of controller parameters on the transparency are analyzed. Then the validity of the analytical results is verified by simulation results.

本文言語English
ホスト出版物のタイトル2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
ページ1287-1292
ページ数6
DOI
出版ステータスPublished - 2008 12 29
イベント2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
継続期間: 2008 6 302008 7 2

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
CountryUnited Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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