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Teleoperation via computer network
Author(s) -
Kosuge Kazuhiro,
Murayama Hideyuki
Publication year - 1998
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/(sici)1520-6416(199808)124:3<49::aid-eej6>3.0.co;2-m
Subject(s) - teleoperation , compensation (psychology) , block (permutation group theory) , passivity , computer science , transformation (genetics) , constant (computer programming) , transmission delay , control theory (sociology) , telecommunications network , master/slave , transmission (telecommunications) , simulation , engineering , robot , telecommunications , control (management) , electrical engineering , mathematics , artificial intelligence , psychology , biochemistry , chemistry , geometry , psychoanalysis , gene , programming language , operating system
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 a 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 a constant time delay. In a traditional teleoperation system, its communication block has a 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. © 1998 Scripta Technica, Electr Eng Jpn, 124(3): 49–56, 1998