Method for bandwidth compression and transmission of environmental information in bilateral teleoperation

• Published in: Electrical engineering in Japan Vol. 178; no. 2; pp. 47 - 54
• Main Authors: Kubo, Ryogo, Ohnishi, Kouhei
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc., A Wiley Company 30-01-2012
• Subjects: Bandwidth; bandwidth compression; bilateral control; Compressing; discrete Fourier transform (DFT); Electrical engineering; Fourier transforms; haptics; Mathematical analysis; mode transformation; On-line systems; Online; Robots
• ISSN: 0424-7760; 1520-6416; 1520-6416
• DOI: 10.1002/eej.21206

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