An Analysis of Transmissibility in Bilateral Tele-operation

作者:Watanabe Tatsuhito*; Katsura Seiichiro
来源:36th Annual Conference of the IEEE Industrial-Electronics-Society/4th IEEE International Conference on E-Learning in Industrial Electronics/IES Industry Forum, 2010-11-07 to 2010-11-10.

摘要

This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are affected by values of gains in position regulator and force servoing, mass, cut-off frequency and so on. To analyze these effects, this paper defines transmissibility about position and force information. The proposed method enables to analyze the behavior of a system when external force is added to another system. The viability of the proposed method is confirmed by some experiments.

  • 出版日期2010