Transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Kenji Natori; Ryogo Kubo; Kouhei Ohnishi

doi:10.1109/ICMECH.2007.4280035

Transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Kenji Natori, Ryogo Kubo, Kouhei Ohnishi

Department of System Design Engineering

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

13 Citations (Scopus)

Abstract

Time delay in bilateral teleoperation systems seriously deteriorates the performance and possibly affects the stability. A novel time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed and the validity has been verified by simulation and experimental results so far. However the validity of the time delay compensation method on performance has not been analyzed. This paper presents analysis of the validity of the time delay compensation method on performance. The analysis is discussed based on performance index of bilateral teleoperation systems, transparency. The analytical results are verified by simulation results.

Original language	English
Title of host publication	Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOIs	https://doi.org/10.1109/ICMECH.2007.4280035
Publication status	Published - 2007 Dec 1
Event	4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan Duration: 2007 May 8 → 2007 May 10

Publication series

Name	Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

Other	4th IEEE International Conference on Mechatronics, ICM 2007
Country/Territory	Japan
City	Kumamoto
Period	07/5/8 → 07/5/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICMECH.2007.4280035

Cite this

Natori, K., Kubo, R., & Ohnishi, K. (2007). Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. In Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007 Article 4280035 (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007). https://doi.org/10.1109/ICMECH.2007.4280035

Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. / Natori, Kenji; Kubo, Ryogo; Ohnishi, Kouhei.
Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007. 2007. 4280035 (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007).

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

Natori, K, Kubo, R & Ohnishi, K 2007, Transparency of time delayed bilateral teleoperation systems with communication disturbance observer. in Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007., 4280035, Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007, 4th IEEE International Conference on Mechatronics, ICM 2007, Kumamoto, Japan, 07/5/8. https://doi.org/10.1109/ICMECH.2007.4280035

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abstract = "Time delay in bilateral teleoperation systems seriously deteriorates the performance and possibly affects the stability. A novel time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed and the validity has been verified by simulation and experimental results so far. However the validity of the time delay compensation method on performance has not been analyzed. This paper presents analysis of the validity of the time delay compensation method on performance. The analysis is discussed based on performance index of bilateral teleoperation systems, transparency. The analytical results are verified by simulation results.",

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AB - Time delay in bilateral teleoperation systems seriously deteriorates the performance and possibly affects the stability. A novel time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed and the validity has been verified by simulation and experimental results so far. However the validity of the time delay compensation method on performance has not been analyzed. This paper presents analysis of the validity of the time delay compensation method on performance. The analysis is discussed based on performance index of bilateral teleoperation systems, transparency. The analytical results are verified by simulation results.

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Transparency of time delayed bilateral teleoperation systems with communication disturbance observer

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