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

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