Performance Comparison of Compression Techniques Used in Bilateral Control

This paper analyzes two recently proposed compression decompression algorithms used in networked motion control systems. The algorithms contain discrete cosine transform (DCT) based and discrete fourier transform (DFT) based codecs for the realization of signal transmission over network. The backgrounds of the algorithms are presented along with a discussion on the advantages and disadvantages. Comparison of the performances of both algorithms are presented based on three different evaluation criteria including compression ratio, buffer size and power error. The differences between the algorithms are validated with results obtained from a series of experiments. Theoretical details regarding the differences between the results obtained from experiments are provided to present a complete analysis between two approaches.