Teleoperation via Computer Network
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- Kosuge Kazuhiro
- Tohoku University
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- Murayama Hideyuki
- Tohoku University
Bibliographic Information
- Other Title
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- コンピュータネットワークを介したテレオペレーション
- コンピュータ ネットワーク オ カイシタ テレ オペレーション
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Abstract
In a teleoperation system, providing force information to a human operator can improve task performance. When a communication block between a master and a slave has transmission delay, the system is easily destabilized. Anderson and Spong guaranteed passivity in the communication block by using scattering transformation and overcame this instability caused by the time delay. But this method can be applied to the communication block with constant time delay. In traditional teleoperation system, its communication block has constant time delay. But time delay irregularly changes in a computer network because many users share telecommunication lines. This paper shows that the variable time delay destabilizes bilateral master slave manipulator with scattering transformation and a new compensation method which keeps the time delay constant. This new compensation method has been implemented in a single axis master slave manipulator.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 117 (5), 521-527, 1997
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679584725504
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- NII Article ID
- 130006843791
- 10004734624
- 10002810102
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 4204779
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed