Real-time mobile robot teleoperation via Internet based on predictive control

作     者：Shihua WANG Bugong XU YunHui LIU Yeming ZHOU 

作者机构：Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Naval Arms Command Academy of Guangzhou Guangzhou 510430 China Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Naval Arms Command Academy of Guangzhou Guangzhou 510430 China Department of Automation and Computer Aided Engineering The Chinese University of Hong Kong Shatin N.T. HK China 

出 版 物：《中国高等学校学术文摘·机械工程》 (FRONTIERS OF MECHANICAL ENGINEERING IN CHINA)

年 卷 期：2008年第3卷第3期

页      面：299-306页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：国家自然科学基金广东省重点项目(U0735003) 广东省自然科学基金(06105413) 

主　　题：teleoperation internet robots predictive con-trol delay algorithm 

摘      要：A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the mas-ter and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is per-formed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of tele-operation. The usefulness and effectiveness of the pro-posed method and system are proven by teleoperation experiments via the internet over a long distance.