Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer | IEEE Conference Publication | IEEE Xplore

Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer


Abstract:

Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance ...Show More

Abstract:

Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the ¿Operationality¿ of master robot but simultaneously deteriorates ¿Reproducibility¿ of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
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Conference Location: Nagaoka, Japan

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