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A novel control strategy based on motion description language (MDL) is proposed in this paper, to distribute computational and communication resources in a particular tele-robotic system. On one hand, limited bandwidth, random time delay and other transmission problems of Internet make it necessary to reduce data transferred between master and slave site. On the other hand, remote robotic system has...
Robotic teleoperation constitutes a key technique for networked manufacturing system. Since Internet is noisy and performance of telerobotic systems strongly depends on communication conditions, control strategies which could be used to distribute computation and communication resource properly and require less data transmission are required. Motion description language (MDL) is an appropriate solution...
A MDL-based control method for tele-robotic systems over internet is presented in this paper. Internet-based tele-robotic systems are characterized by the fact that the operator and the remote robotic system are connected by Internet. Since limited bandwidth, random time delay and other transmission problems deteriorate performance of tele-robotic systems severely, control strategies which can be...
This paper is concerned with characteristics of human behaviors in Internet-based teleoperation system under communication delay. Especially frequency character and velocity character of human behaviors affected with random delay of the Internet are analyzed. We are researching in human adaptive network mechatronics which can not only evaluate operational behaviors of human, but also help the operator's...
For Internet based real-time teleoperation systems, unknown and variable time delay can cause instability in the closed loop control system and hence hinder task accomplishment. According to requirement of Internet-based teleoperation, exact prediction of RTT can improve greatly performance of the teleoperation system. In this paper, statistical properties of the Round Trip Timedelay (RTT) are investigated...
The variable time delay and the packet loss degrade the performance of Internet based teleoperation system severely, even make the system unstable. Most of the previous work on Internet-based teleoperations rest on many assumptions, for example, time delay is constant or has upper bound, control is not in real-time. This paper presents a new predictive control strategy for the Internet based teleoperation...
The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. To overcome the trouble, an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of...
In this paper, we present a predictive strategy for teleoperating via communication channel with unknown and variable time delay, where the remote robot is compensated to be a linear system. According to the state received from remote plant and the local predictor, a discrete-time device called path governor(PG) generates on line a suitable time-parameterization of the path to be tracked, by solving...
Internet based tele-operation systems utilize the ubiquitous connectivity and low cost bandwidth offered by the Internet to send commands and receive friendly feedback for tele-operating remote systems. In many scenarios for efficiency and task completion, the tactic coordination of human-machine and multi-robots are required. For this to be feasible there are several hurdles to be crossed including...
In recent years, the Internet-based teleoperation control has become a research focus. Compared with single robot, multi-robot system can be applied to many fields. It has the ability to complete the complicated tasks more rapidly and effectively. The combination form of the Internet-based multi-robot teleoperation system has attracted the widespread attention. However, due to the existence of the...
The Internet-based tele-operation is becoming an important research field in the past years. Most exist works are based on the wired Internet and the PC computers, which largely limited the robot's movement and the tele-operation system's portability. This paper presents a design and implementation of an Internet soccer tele-operation system based on Pocket PC via the 802.11b wireless network. According...
The Internet-based teleoperation has become a popular research topic during the recent years. More and more fields are being involved and one of them is the multi-robot systems. Multi-robot systems have the ability to perform better in a complex environment; however, it is difficult for the robots to complete tasks autonomously, thus a human operator is needed to contribute his ability to direct the...
The Internet-based teleoperation has been studied in more and more potential fields in the past years. The interest in multi-robot systems arises during recent years for their ability to perform better in complex environment. However, it is difficult for robots to perform tasks autonomously in complex conditions, thus a human operator at the remote site is needed to contribute his intelligence to...
With the rapid development of information technology, the Internet has evolved from a simple data-sharing media to an amazing information world where people can enjoy various services. Recently, the use of the Internet has been expanded to the field of automation, i.e., using the Internet as a tool to control equipment located at remote sites. This work presents a system that enables multiple operators...
The architecture of an Internet-based teleoperation system with force feedback control has been presented. The notion of supermedia in the teleoperation was introduced firstly. And then the artificial potential field method was used to produce virtual force which was displayed by force feedback device. A kind of general task distribution algorithm had been proposed, in which tasks were distributed...
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