Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulatio...
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Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulation aiding system based on the superposition of a position correction component to the manual orders given by the human operator, through his gestures. This correction will enable the slave arm to move quicker when it is far from the target, while moving slower and more precisely when it operates close to the target, thus, the system behaves as if an external attraction force appear around the possible objects to be manipulated.
In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. R...
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In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. R...
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In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. Revising real-time scheduling properties, we analyse which are the main timing problems that current scheduling algorithms may introduce in the execution of control loops. Next, we categorise those timing problems, that is, jitters on task-instances executions, in a control context. Afterwards, we show, by simulations, different types of control system performance degradation that these jitters may cause. Finally, we propose possible solutions that solves this degradation, based on irregular sampling discrete-time system models with varying time delays.
Distributed control systems involve three main disciplines: control systems, real time systems, and communication systems. control systems, due their stringent timing constraints, demand real time computing technology...
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Distributed control systems involve three main disciplines: control systems, real time systems, and communication systems. control systems, due their stringent timing constraints, demand real time computing technology. Distributed control systems need communication systems when distributing sensors, actuators, the control procedures and data messaging. In general, demands of distributed control systems and properties of real time scheduling algorithms differ, for example, for activation patterns of tasks. The aim of this paper is to provide a set of requirements to overcome current limitations of real time scheduling methods to their increase applicability for distributed control systems
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