期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

基于Internet的实时遥操作移动机器人系统 被引量：1

Internet-Based Real-Time Teleoperated Mobile Robot System
在线阅读 下载PDF
导出
摘要 为抵消网络可变时延对遥操作系统的影响,基于一种新的改进型Smith预估器,构建了预估控制下的网络实时遥操作移动机器人系统.该系统根据主、从端传感器交换的信息,通过动态模型管理器及其算法,保证了主、从端模型的一致性.文中根据端到端数据包多个到达的特性,提出了新的时延缓冲器管理算法,从而更好地将可变时延转化为常时延.为了增强系统控制的实时性,系统中还引入了模型的虚拟显示.长距离的网络遥操作实验验证了文中系统和控制策略的实用性及有效性. In order to eliminate the impact of variable network delay on teleoperated systems, this paper presents an Internet-based real-time teleoperated mobile robot system by utilizing the predictive control scheme and introducing an improved Smith predictor. Based on the sensor information exchange between the master and the slave, the system guarantees the master and slave models synchronism through a dynamic model manager and its algorithm. Moreover, according to the many arrivals of end-to-end datagram, a new regulating algorithm for delay buffer is pro- posed to transfer a variable delay into the constant one. Virtual model display is also introduced to enhance the realtime efficiency of the system. The usefulness and effectiveness of the developed method and system are finally validated by the teleoperation experiments through long-distance Internet.
作者 王世华 胥布工 刘云辉
机构地区 华南理工大学自动化科学与工程学院 香港中文大学机械与自动化工程学系
出处 《华南理工大学学报（自然科学版）》 EI CAS CSCD 北大核心 2008年第1期81-88,共8页 Journal of South China University of Technology(Natural Science Edition)
基金 国家自然科学基金资助项目(60474047) 国家自然科学基金重点项目(60334010) 广东省自然科学基金资助项目(06105413)
关键词 遥操作 网络机器人 预估控制 时延算法 teleoperation Internet robots predictive control delay algorithm
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献22

  • 1Goldberg K, Mascha M, Gentner S, et al. Desktop teleoperation via the World Wide Web [ C]//Proc of IEEE International Conference on Robotics and Automation. Nagoya, Japan: IEEE, 1995:654-659.
  • 2Anderson R J, Spong M W. Bilateral control of teleoperators with time delay [ J ]. IEEE Transactions on Automatic Control, 1989,34(5) :494-501.
  • 3Lawrence D A. Stability and transparency in bilateral teleoperation [ J]. IEEE Transactions on Robotics and Automation, 1993,9(5 ) : 624-637.
  • 4Elhajj I,Xi N,Fung W K,et al. Haptic information in Internet-based teleoperation [ J ]. IEEE/ASME Transactions on Mechatronics,2001,6( 3 ) :295-304.
  • 5Elhajj I,Xi N,Fung W K,et al. Supermedia-enhanced Intemet based telerobotics [ J ]. Proceedings of the IEEE, 2003,91 (3) :396-421.
  • 6Liu P X, Meng M Q H, Liu P R,et al. An end-to-end transmission architecture for the remote control of robots over IP networks [ J ]. IEEE/ASME Transactions on Mechatronics ,2005,10(5 ) :560-570.
  • 7Oboe R. Force-reflecting teleoperation over the Internet: the JBIT project [J ]. Proceedings of the IEEE,2003,91 (3) :449-462.
  • 8Andreu D,Fraisse P,Segovia de Los Rios J A. Teleoperation over an IP network: from control to architectural considerations [C]//Proc of IEEE International Conference on Control, Automation, Robotics and Vision. Kunming, China: IEEE, 2004 : 765- 770.
  • 9Uchimura Y,Yakoh T. Bilateral robot system on the realtime network structure [ J ]. IEEE Transactions on Industrial Electronics ,2004,51 (5) :940-946.
  • 10Tsuji T,Kato A ,Ohnishi K,et al. Safety control of teIeoperation system under time varying communication delay [C]//Proc of the 8th IEEE International Workshop on Advanced Motion Control. Kawasaki, Japan: IEEE ,2004: 463 -468.

同被引文献22

  • 1Hokayem P F, Spong M W. Bilateral teleoperation:an his torical survey [ J] .Automatica,2006,42(12) :2035-2057.
  • 2Anderson R J, Spong M W. Bilateral control of teleopera- tors with time delay [ J ]. IEEE Transactions on Automa- tion Control, 1989,34 ( 5 ) :494- 501.
  • 3Niemeyer G, Slotine J-J E. Stable adaptive teleoperation [ J ]. IEEE Journal of Oceanic Engineering, 1991,16 ( 1 ) : 152-162.
  • 4Chopra N, Spong M W. Advances in telerobotics [ M ]. Berlin/Heidelberg : Springer-Verlag, 2007 : 257 - 270.
  • 5Lee D, Spong M W. Passive bilateral teleoperation with constant time delay [ J ]. IEEE Transactions on Robot, 2006,22 (2) : 269- 281.
  • 6Namerikawa T, Kawada H. Symmetric impedance matched teleoperation with position tracking [ C ] // Proceedings of the 45th IEEE Conference on Decision and Control. San Diego : IEEE, 2006 : 4496 - 4501.
  • 7Chopra N, Spong M W, Hirche S, et al. Bilateral teleopera- tion over the Intemet: the time vaying delay problem [C]//Proceedings of the American Control Conference. Denver : IEEE, 2003 : 155-160.
  • 8Kawada H, Namerikawa T. Bilateral control of nonlinear teleoperation with time varying communication delays [C] //Proceedings of the American Control Conference. Seattle : IEEE, 2008 : 189-194.
  • 9Uchimura Y, Yakoh T, Ohnishi K. Bilateral robot system on the real-time network structure [ J ]. IEEE Transactions on Industrial Electronics,2004,51 (5) :940-946.
  • 10Wirz R, Ferre M, Marin R, et al. Efficient transport pro- tocol for networked haptics applications [ C ] //Procee- dings of the 6th International Conference on Haptics : Per- ception,Devices, and Scenarios.Berlin/Heidelberg: Springer- Verlag, 2008 : 3-12.

引证文献1

二级引证文献1

华南理工大学学报（自然科学版）
2008年 第1期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部