Teleoperation via computer network

Kazuhiro Kosuge, Hideyuki Murayama

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Pages (from-to)49-56
Number of pages8
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number3
Publication statusPublished - 1998 Jan 1


  • Bilateral feedback
  • Computer network
  • Remote manipulation
  • Robot
  • Time delay

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


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