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- Publisher Website: 10.1002/(SICI)1520-6416(199808)124:3<49::AID-EEJ6>3.0.CO;2-M
- Scopus: eid_2-s2.0-0032142413
- WOS: WOS:000075201400006
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Article: Teleoperation via computer network
Title | Teleoperation via computer network |
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Authors | |
Keywords | Robot Computer network Remote manipulation Time delay Bilateral feedback |
Issue Date | 1998 |
Citation | Electrical Engineering in Japan, 1998, v. 124, n. 3, p. 49-56 How to Cite? |
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 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. |
Persistent Identifier | http://hdl.handle.net/10722/302688 |
ISSN | 2023 Impact Factor: 0.4 2023 SCImago Journal Rankings: 0.158 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Murayama, Hideyuki | - |
dc.date.accessioned | 2021-09-07T08:42:24Z | - |
dc.date.available | 2021-09-07T08:42:24Z | - |
dc.date.issued | 1998 | - |
dc.identifier.citation | Electrical Engineering in Japan, 1998, v. 124, n. 3, p. 49-56 | - |
dc.identifier.issn | 0424-7760 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302688 | - |
dc.description.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 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. | - |
dc.language | eng | - |
dc.relation.ispartof | Electrical Engineering in Japan | - |
dc.subject | Robot | - |
dc.subject | Computer network | - |
dc.subject | Remote manipulation | - |
dc.subject | Time delay | - |
dc.subject | Bilateral feedback | - |
dc.title | Teleoperation via computer network | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1002/(SICI)1520-6416(199808)124:3<49::AID-EEJ6>3.0.CO;2-M | - |
dc.identifier.scopus | eid_2-s2.0-0032142413 | - |
dc.identifier.volume | 124 | - |
dc.identifier.issue | 3 | - |
dc.identifier.spage | 49 | - |
dc.identifier.epage | 56 | - |
dc.identifier.isi | WOS:000075201400006 | - |