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Conference Paper: Predictive path parameterization for the teleoperation systems via internet

TitlePredictive path parameterization for the teleoperation systems via internet
Authors
KeywordsRobot
Path parameterization
Optimization method
Model predictive control
Internet
Issue Date2008
Citation
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, 2008, p. 297-301 How to Cite?
AbstractIn this paper, we present a predictive strategy for teleoperating via communication channel with unknown and variable time delay, where the remote robot is compensated to be a linear system. According to the state received from remote plant and the local predictor, a discrete-time device called path governor(PG) generates on line a suitable time-parameterization of the path to be tracked, by solving at fixed interval a look-ahead optimization problem. In order to demonstrate its effectiveness, a master/slave teleoperation problem over Internet is considered. Experimental results show that the teleoperation system can be stable and has good tracking performance under three circumstances. © 2008 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212995

 

DC FieldValueLanguage
dc.contributor.authorChen, Dan-
dc.contributor.authorXi, Ning-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorTang, Xusheng-
dc.date.accessioned2015-07-28T04:05:42Z-
dc.date.available2015-07-28T04:05:42Z-
dc.date.issued2008-
dc.identifier.citation2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, 2008, p. 297-301-
dc.identifier.urihttp://hdl.handle.net/10722/212995-
dc.description.abstractIn this paper, we present a predictive strategy for teleoperating via communication channel with unknown and variable time delay, where the remote robot is compensated to be a linear system. According to the state received from remote plant and the local predictor, a discrete-time device called path governor(PG) generates on line a suitable time-parameterization of the path to be tracked, by solving at fixed interval a look-ahead optimization problem. In order to demonstrate its effectiveness, a master/slave teleoperation problem over Internet is considered. Experimental results show that the teleoperation system can be stable and has good tracking performance under three circumstances. © 2008 IEEE.-
dc.languageeng-
dc.relation.ispartof2007 IEEE International Conference on Robotics and Biomimetics, ROBIO-
dc.subjectRobot-
dc.subjectPath parameterization-
dc.subjectOptimization method-
dc.subjectModel predictive control-
dc.subjectInternet-
dc.titlePredictive path parameterization for the teleoperation systems via internet-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2007.4522177-
dc.identifier.scopuseid_2-s2.0-49249099154-
dc.identifier.spage297-
dc.identifier.epage301-

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