Method for bandwidth compression and transmission of environmental information in bilateral teleoperation

Ryogo Kubo, Kouhei Ohnishi

研究成果: Article査読

抄録

In this paper, a novel method for bandwidth compression and transmission of environmental information is proposed for bilateral teleoperation systems with multiple degrees of freedom (MDOF). In this method, environmental information, that is, the position of end-effectors and the reaction force exerted on them, is converted into environmental modes by using discrete Fourier transform (DFT) matrices. The environmental modes to be transmitted are then selected on the basis of the communication bandwidth between master and slave robots. Bilateral control is achieved in low-frequency modal spaces, and local position control is achieved in high-frequency modal spaces. The validity of the proposed method is confirmed by performing an experiment. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 178(2): 47-54, 2012; Published online in Wiley Online Library (). DOI 10.1002/eej.21206

本文言語English
ページ(範囲)47-54
ページ数8
ジャーナルElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
178
2
DOI
出版ステータスPublished - 2012 1月 30

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学

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