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

Ryogo Kubo, Kouhei Ohnishi

研究成果: Article査読

6 被引用数 (Scopus)

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, i.e., 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.

本文言語English
ページ(範囲)319-324+11
ジャーナルieej transactions on industry applications
129
3
DOI
出版ステータスPublished - 2009 4月 30

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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