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Method for bandwidth compression and transmission of environmental information in bilateral teleoperation
Author(s) -
Kubo Ryogo,
Ohnishi Kouhei
Publication year - 2011
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/eej.21206
Subject(s) - teleoperation , bandwidth (computing) , modal , computer science , transmission (telecommunications) , position (finance) , robot , control theory (sociology) , electronic engineering , engineering , simulation , telecommunications , control (management) , artificial intelligence , materials science , polymer chemistry , economics , finance
In this paper, a novel method for bandwidth compression and transmission of environmental information is proposed for bilateral teleoperation systems with multiple degrees of freedom (MDOF). In this method, environmental information, that is, the position of end‐effectors and the reaction force exerted on them, is converted into environmental modes by using discrete Fourier transform (DFT) matrices. The environmental modes to be transmitted are then selected on the basis of the communication bandwidth between master and slave robots. Bilateral control is achieved in low‐frequency modal spaces, and local position control is achieved in high‐frequency modal spaces. The validity of the proposed method is confirmed by performing an experiment. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 178(2): 47–54, 2012; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21206