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...
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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.
This paper presents a system that enables remote operator to control a mobile robot with real-time control style via Internet. To compensate network delay and cancel its impact on teleoperation system, we adopt predic...
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ISBN:
(纸本)9781424408177
This paper presents a system that enables remote operator to control a mobile robot with real-time control style via Internet. To compensate network delay and cancel its impact on teleoperation system, we adopt predictive control scheme based on a modified Smith predictor that we proposed previously. To guarantee stability and transparency of system, a dynamic model manager is described from sensors information exchange between the master and slave side, where model and force feedback errors are regulated under a fuzzy controller. In addition to force feedback, virtual predictive display is introduced to enhance the real-time efficiency of teleoperation. To predict time delay precisely, a novel timer synchronization algorithm is proposed. To decrease delay jittering, data buffer scheme is achieved at both sides together with its two algorithms. The usefulness and effectiveness of the developed method and system have been validated by teleoperation experiments through Internet on long distance.
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