Effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer

Author

Natori, Kenji ; Kubo, Ryogo ; Ohnishi, Kouhei

Author_Institution

Syst. Design Eng., Keio Univ., Yokohama

fYear

2008

fDate

June 30 2008-July 2 2008

Firstpage

1287

Lastpage

1292

Abstract

This paper discusses the effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer (CDOB). A time delay compensation method based on the concept of network disturbance (ND) and CDOB is a novel and efficient for time delay compensation of time delayed bilateral teleoperation systems. Besides, transparency is one of useful performance evaluation indices of bilateral systems. In this paper, the effects of controller parameters on a specific definition of transparency for time delayed cases are discussed. At first, the effects of controller parameters on the transparency are analyzed. Then the validity of the analytical results is verified by simulation results.

Keywords

compensation; delay systems; observers; performance index; telecontrol; communication disturbance observer; controller parameter; network disturbance; performance evaluation index; time delay compensation method; time delayed bilateral teleoperation system transparency; Analytical models; Communication system control; Control systems; Delay effects; Delay systems; Design engineering; Haptic interfaces; Information technology; Neodymium; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium on

Conference_Location

Cambridge

Print_ISBN

978-1-4244-1665-3

Electronic_ISBN

978-1-4244-1666-0

Type

conf

DOI

10.1109/ISIE.2008.4677232

Filename

4677232