It is difficult to realize a transparent bilateral control over network because communication time delay, jitter, or packet loss deteriorates transparency and stability. Although many dead time compensation methods have been considered, each approach does not realize both high transparency and stability. To solve the problem, our previous work has proposed a multirate sampling method for bilateral control systems. In this approach, packet-sending period tp is set to larger than the control period of the master/slave robot control tc. This method has an advantage to improve the transparency because large tp often reduces communication delays. However, that work has not shown the relationship between the transparency and the value of tp. Therefore, this paper analyzes the relationship between the transparency and tp by introducing frequency characteristic of an ideal sampler and a zero-order holder. In addition, the validity of the analysis is shown by experimental results.
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