Control techniques and programming issues for time delayed Internet based teleoperation

被引：24

作者：

Munir, S ^{[1
]}

Book, WJ ^{[1
]}

机构：

[1] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2003年 / 125卷 / 02期

关键词：

D O I：

10.1115/1.1568120

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.

引用

页码：205 / 214

页数：10

共 50 条

[31] Predictive time domain passivity control for delayed teleoperation using energy derivatives
Iqbal, Asif
Roth, Hubert
2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5, 2006, : 1290 - +
[32] On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots
Arteaga-Perez, Marco A.
Lopez, Mauro
Nuno, Emmanuel
Hernandez-Ortiz, Oscar
INTERNATIONAL JOURNAL OF CONTROL, 2021, 94 (09) : 2353 - 2368
[33] Autonomous system of teleoperation and control through the Internet based on Intelligent Agents
Aznar, F
Llorens, F
Mora, F
Pujol, M
Rizo, R
Sempere, M
Suau, P
8TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL VIII, PROCEEDINGS: CONTROL, COMMUNICATION AND NETWORK SYSTEMS, TECHNOLOGIES AND APPLICATIONS, 2004, : 172 - 177
[34] Internet-based Teleoperation Systems with Time Varying Communication Delay
Islam, Shafiqul
Liu, Peter X.
El Saddik, Abdulmotaleb
Liu, Shichao
2011 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC), 2011, : 1610 - 1615
[35] Event-based Predictive Control Strategy for Teleoperation via Internet
Chen, Dan
Xi, Ning
Wang, Yuechao
Li, Hongyi
Tang, Xusheng
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2008, : 359 - 364
[36] Event-based predictive control strategy for teleoperation via internet
Chen, Dan
Xi, Ning
Wang, Yue-Chao
Li, Hong-Yi
Tang, Xu-Sheng
Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2010, 27 (05): : 623 - 626
[37] Integrating Haptic Data Reduction with Energy Reflection-Based Passivity Control for Time-delayed Teleoperation
Xu, Xiao
Panzirsch, Michael
Liu, Qian
Steinbach, Eckehard
2020 IEEE HAPTICS SYMPOSIUM (HAPTICS), 2020, : 109 - 114
[38] Impedance Correction in Time Delayed Teleoperation System
Mizoguchi, Takahiro
Nozaki, Takahiro
Ohnishi, Kouhei
2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2014,
[39] Programming by demonstration for shared control with an application in teleoperation
Zeestraten M.J.A.
Havoutis I.
Calinon S.
Zeestraten, Martijn J.A. (martijn.zeestraten@iit.it), 1848, Institute of Electrical and Electronics Engineers Inc., United States (03) : 1848 - 1855
[40] Admittance Shaping in Delayed Bilateral Teleoperation Control
Kristalny, Maxim
Cho, Jang Ho
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 1505 - 1510

← 1 2 3 4 5 →