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Conference Paper: Motion description and control for a tele-manipulator system based on MDL

TitleMotion description and control for a tele-manipulator system based on MDL
Authors
Keywordsmotion description language
Internet
tele-manipulator system
Issue Date2011
Citation
Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2011, p. 677-682 How to Cite?
AbstractA novel control strategy based on motion description language (MDL) is proposed in this paper, to distribute computational and communication resources in a particular tele-robotic system. On one hand, limited bandwidth, random time delay and other transmission problems of Internet make it necessary to reduce data transferred between master and slave site. On the other hand, remote robotic system has a fairly good autonomy. As a result, it is preferable to transmit high-level discrete commands between master and slave site. In this paper, a symbolic-based control framework based on MDL is put forward and implemented on a tele-manipulator system. Especially, open-loop and closed-loop component are obtained based on the resolved motion method, termination conditions for atoms are acquired from the point of view optimization problem. The obvious characteristic of the new method is that control commands have a linguistic flavor, data transferred between operator and remote robot can be reduced accordingly. A prototype tele-robotic system based on MDL is constructed and the experiment results validate the efficiency of the proposed method. © 2011 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213199

 

DC FieldValueLanguage
dc.contributor.authorHua, Jianning-
dc.contributor.authorLi, Hongyi-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:29Z-
dc.date.available2015-07-28T04:06:29Z-
dc.date.issued2011-
dc.identifier.citationProceedings of the World Congress on Intelligent Control and Automation (WCICA), 2011, p. 677-682-
dc.identifier.urihttp://hdl.handle.net/10722/213199-
dc.description.abstractA novel control strategy based on motion description language (MDL) is proposed in this paper, to distribute computational and communication resources in a particular tele-robotic system. On one hand, limited bandwidth, random time delay and other transmission problems of Internet make it necessary to reduce data transferred between master and slave site. On the other hand, remote robotic system has a fairly good autonomy. As a result, it is preferable to transmit high-level discrete commands between master and slave site. In this paper, a symbolic-based control framework based on MDL is put forward and implemented on a tele-manipulator system. Especially, open-loop and closed-loop component are obtained based on the resolved motion method, termination conditions for atoms are acquired from the point of view optimization problem. The obvious characteristic of the new method is that control commands have a linguistic flavor, data transferred between operator and remote robot can be reduced accordingly. A prototype tele-robotic system based on MDL is constructed and the experiment results validate the efficiency of the proposed method. © 2011 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings of the World Congress on Intelligent Control and Automation (WCICA)-
dc.subjectmotion description language-
dc.subjectInternet-
dc.subjecttele-manipulator system-
dc.titleMotion description and control for a tele-manipulator system based on MDL-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/WCICA.2011.5970601-
dc.identifier.scopuseid_2-s2.0-80052423506-
dc.identifier.spage677-
dc.identifier.epage682-

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