Time delay compensation in bilateral teleoperation systems

Kenji Natori, Kouhei Ohnishi

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

Time delay in bilateral teleoperation systems is inevitable and very serious problem. It possibly destabilize systems and deteriorates the performance of systems. Many researches about time delay in bilateral teleoperation systems have been proposed so far. In such a situation, authors have proposed a time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). It can stabilize time delayed bilateral systems. Furthermore since the method does not need delay time model, it is applicable to the case with time-varing or fluctuant time delay like that of Internet. In this paper, a new design method (or condition) of cutoff frequency of low pass filter (LPF) in CDOB considering approximated poles of ND is proposed. The validity of proposed design method (or condition) is verified by simulation results.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Mechatronics, ICM
ページ601-606
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
継続期間: 2006 7 32006 7 5

出版物シリーズ

名前2006 IEEE International Conference on Mechatronics, ICM

Other

Other2006 IEEE International Conference on Mechatronics, ICM
国/地域Hungary
CityBudapest
Period06/7/306/7/5

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学
  • 機械工学

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