Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

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 t_p is set to larger than the control period of the master/slave robot control t_c. This method has an advantage to improve the transparency because large t_p often reduces communication delays. However, that work has not shown the relationship between the transparency and the value of t_p. Therefore, this paper analyzes the relationship between the transparency and t_p 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.