An analysis of transmissibility in bilateral tele-operation

Tatsuhito Watanabe; Seiichiro Katsura

doi:10.1109/IECON.2010.5675317

An analysis of transmissibility in bilateral tele-operation

Tatsuhito Watanabe, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are affected by values of gains in position regulator and force servoing, mass, cut-off frequency and so on. To analyze these effects, this paper defines transmissibility about position and force information. The proposed method enables to analyze the behavior of a system when external force is added to another system. The viability of the proposed method is confirmed by some experiments.

Original language	English
Title of host publication	Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages	2063-2068
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2010.5675317
Publication status	Published - 2010 Dec 1
Event	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States Duration: 2010 Nov 7 → 2010 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Country/Territory	United States
City	Glendale, AZ
Period	10/11/7 → 10/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2010.5675317

Cite this

Watanabe, T & Katsura, S 2010, An analysis of transmissibility in bilateral tele-operation. in Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society., 5675317, IECON Proceedings (Industrial Electronics Conference), pp. 2063-2068, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675317

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AB - This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are affected by values of gains in position regulator and force servoing, mass, cut-off frequency and so on. To analyze these effects, this paper defines transmissibility about position and force information. The proposed method enables to analyze the behavior of a system when external force is added to another system. The viability of the proposed method is confirmed by some experiments.

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An analysis of transmissibility in bilateral tele-operation

Abstract

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