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Real-time mobile robot teleoperation via Internet based on predictive control.
- Source :
- Frontiers of Mechanical Engineering in China; Sep2008, Vol. 3 Issue 3, p299-306, 8p
- Publication Year :
- 2008
-
Abstract
- 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 master 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 performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 16733479
- Volume :
- 3
- Issue :
- 3
- Database :
- Complementary Index
- Journal :
- Frontiers of Mechanical Engineering in China
- Publication Type :
- Academic Journal
- Accession number :
- 49617030
- Full Text :
- https://doi.org/10.1007/s11465-008-0049-7