Real-Time Bilateral Control for an Internet-Based Telerobotic System

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概要

• 論文の詳細を見る

• There is a growing tendency to use the Internet as the transmission medium of the telerobotic system since the Internet is inexpensive and available all over the world. However, the bilateral real-time teleroperation can be unstable due to the random time delays of the Internet. The 'Event based teleoperation' is one of the fine approaches to overcome the random time delays. Since the event based control uses a non-time action reference, the stability and response performance of the system are affected by the time which an event is held for. This study introduces the variable holding time to secure stability and response performance at once. The proper holding time for each event is obtained depending on the characteristics of the task through the fuzzy logic. The proposed control scheme was implemented on a robot arm over the Internet to show its effectiveness.

• 一般社団法人日本機械学会の論文
• 2004-06-15

著者

• Park Jahng-hyon

  School Of Mechanical Engineering Hanyang University

• PARK Joonyoung

  Department of Mechanical Design, Hanyang University

• MOON Seungjae

  School of Mechanical Engineering, Hanyang University

• Moon Seungjae

  School Of Mechanical Engineering Hanyang University

• Park Joonyoung

  Department Of Chemial Engineering Hanyang University

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