Frequency-domain analysis of wave variable based teleoperation and its equivalent implementation

Dapeng Tian, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

The wave variable based teleoperation has been analyzed and designed in time domain since it came into being. However, past researches paid little attention to the frequency domain characteristics of this method. Therefore, this study analyzed the wave variable method in frequency domain. The dynamics of the wave variable based teleoperation are compared with the 4-channel control algorithm. This work shows effect of the wave variable for the system, and shows the possibility of equivalent implementation of the wave variable method. Moreover, the problems of wave variables, the position drifting and "wave reflection" phenomenon, are explained in the form of 4-channel control. The position drifting is caused for the asymmetry of the position control in the master robot. The "wave reflection" is caused for the reflection of the inverse dynamics. It is helpful of this research to understand the wave variable based teleoperation more comprehensively, and lays the foundation to solve the existing problems. Experimental results are included in support of the theoretical work.

本文言語English
ホスト出版物のタイトルProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
ページ41-46
ページ数6
DOI
出版ステータスPublished - 2011 8月 23
イベント2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
継続期間: 2011 6月 172011 6月 19

出版物シリーズ

名前Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011

Other

Other2011 1st International Symposium on Access Spaces, ISAS 2011
国/地域Japan
CityYokohama
Period11/6/1711/6/19

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学

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