A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is pro-posed in this paper. Different from the traditional event based control method, the new framework does not ...A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is pro-posed in this paper. Different from the traditional event based control method, the new framework does not require every part of the system to be strictly event synchronized. Instead, it allows time referenced control components to be integrated into this framework, which makes it more convenient to develop Internet based control systems. Since there are two reference variables, time and event, in this architecture, how to coordinate these components with different references to keep the stability of the whole system is discussed in detail in this paper. To verify this new idea, an experiment was conducted to control the end effector of a PUMA robot tracking a continuous state trajectory given on-line by the remote operator. Ex-perimental results confirmed the stability of such systems being controlled through the Internet in real-time.展开更多
Building an Internet based tele-robotic system requires the developers beingproficient in computer theory, network technology, control theory, etc. A flexible, open structuredand module based framework for tele-contro...Building an Internet based tele-robotic system requires the developers beingproficient in computer theory, network technology, control theory, etc. A flexible, open structuredand module based framework for tele-control system is proposed on the basis of abstraction andanalysis of existing Internet-based control systems. This framework is designed following the peerto peer (P2P) distributed computing model. As a key to the system, the XML based ontology ofresources/modules/peers is discussed, so do the model for dynamically allocating of resources, basedon which the coordination among modules or peers can then be implemented. The experiment system andits experimental results prove the feasibility of the framework and its ease to use.展开更多
Aiming at the tele-operation instability caused by time delay of interuet information transfer for internet based tele-robotics, this paper proposes a novel control framework for internet based tele-roboties, which ca...Aiming at the tele-operation instability caused by time delay of interuet information transfer for internet based tele-robotics, this paper proposes a novel control framework for internet based tele-roboties, which can guarantee the non-distortion-transfer of control information and reduce the difference of action time between the local simulated virtual robot and the remote real robot. This framework is insensitive to the inherent interact time delay, and differs from other tele-robotics systems that try to use some mathematic models to describe the internet delay or take some assumptions. In order to verify the framework, a 4-DOF fischertechnik industry robot tele-operation system has been developed using the new proposed framework. Experimental results demonstrate the applicable performance of the new framework. The framework is open structured and can be applied to other general purposed tele-operation systems.展开更多
文摘A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is pro-posed in this paper. Different from the traditional event based control method, the new framework does not require every part of the system to be strictly event synchronized. Instead, it allows time referenced control components to be integrated into this framework, which makes it more convenient to develop Internet based control systems. Since there are two reference variables, time and event, in this architecture, how to coordinate these components with different references to keep the stability of the whole system is discussed in detail in this paper. To verify this new idea, an experiment was conducted to control the end effector of a PUMA robot tracking a continuous state trajectory given on-line by the remote operator. Ex-perimental results confirmed the stability of such systems being controlled through the Internet in real-time.
基金This project is supported by National Natural Science Foundation of China (No.50305035).
文摘Building an Internet based tele-robotic system requires the developers beingproficient in computer theory, network technology, control theory, etc. A flexible, open structuredand module based framework for tele-control system is proposed on the basis of abstraction andanalysis of existing Internet-based control systems. This framework is designed following the peerto peer (P2P) distributed computing model. As a key to the system, the XML based ontology ofresources/modules/peers is discussed, so do the model for dynamically allocating of resources, basedon which the coordination among modules or peers can then be implemented. The experiment system andits experimental results prove the feasibility of the framework and its ease to use.
基金Sponsored by the National Natural Science Foundation of China (Grant No. 60776816)Scientific Research Foundation of Education Department of Yunnan Province (Grant No.08Y10326)
文摘Aiming at the tele-operation instability caused by time delay of interuet information transfer for internet based tele-robotics, this paper proposes a novel control framework for internet based tele-roboties, which can guarantee the non-distortion-transfer of control information and reduce the difference of action time between the local simulated virtual robot and the remote real robot. This framework is insensitive to the inherent interact time delay, and differs from other tele-robotics systems that try to use some mathematic models to describe the internet delay or take some assumptions. In order to verify the framework, a 4-DOF fischertechnik industry robot tele-operation system has been developed using the new proposed framework. Experimental results demonstrate the applicable performance of the new framework. The framework is open structured and can be applied to other general purposed tele-operation systems.
