Bilateral teleoperation control with varying time delay using optimal passive scheme

被引：0

作者：

Zhang, Changlei ^{[1
]}

Yoo, Sung Goo ^{[1
]}

Chong, Kil To ^{[1
]}

机构：

[1] Chonbuk Natl Univ, Dept Elect & Informat Engn, Jeonju 560756, South Korea

来源：

ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2 | 2008年 / 6794卷

关键词：

teleoperation; passivity; internet; force feedback;

D O I：

暂无

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

This paper presents a passive control scheme for a force reflecting bilateral teleoperation system via the Internet. To improve the stability and performance of the system, the host and client must be coupled dynamically via the network and Internet technology provides a convenient way to develop an integrated teleoperation system. However, as use of Internet increases, congestion situation of network increased and transmission time and packet loss increased accordingly. This can make system unstable at remote control. In this paper, we present an optimal passive control scheme for a force reflecting bilateral teleoperation system via the Internet and we investigated how a varying time delay affects the stability of a teleoperation system. A new approach based on an optimal passive control scheme was designed for the system. The simulation results and the tracking performance of the implemented system are presented in this paper.

引用

页码：U40 / U45

页数：6

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