Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays

スポンサーリンク

概要

• 論文の詳細を見る

• It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which includes instability and inaccuracy. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to a constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input intervals. That means the entire system has a large control bandwidth. The validity of the proposed method is demonstrated by experiments of teleoperation from USC (University of Southern California in U.S.A.) to HYU (Hanyang Univ. in Korea) through the Internet. The proposed method is also demonstrated by experiments of teleoperation through the wireless internet.

• 一般社団法人日本機械学会の論文
• 2003-12-15

著者

• Park Jahng-hyon

  School Of Mechanical Engineering Hanyang University

• SHIN Wanjae

  School of Mechanical Engineering, Hanyang University

• Shin Wanjae

  School Of Mechanical Engineering Hanyang University

関連論文

• Neuro-Fuzzy Control of Converging Vehicles for Automated Transportation Systems
• Optimal Task Sequence Planning for High Speed Robotic Assembly Using Simulated Annealing
• Well-Conditioned Observer Design for Two-Output Systems
• Real-Time Bilateral Control for an Internet-Based Telerobotic System
• Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays

スポンサーリンク