Title :
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
fDate :
June 30 2008-July 2 2008
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;
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
DOI :
10.1109/ISIE.2008.4677232
