File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: MDL-based control method for mobile robot with randomly varying time-delay

TitleMDL-based control method for mobile robot with randomly varying time-delay
Authors
Issue Date2011
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2011, p. 1772-1777 How to Cite?
AbstractRobotic teleoperation constitutes a key technique for networked manufacturing system. Since Internet is noisy and performance of telerobotic systems strongly depends on communication conditions, control strategies which could be used to distribute computation and communication resource properly and require less data transmission are required. Motion description language (MDL) is an appropriate solution. In this paper, comparison study between MDL-based and the traditional direct control method under randomly varying time-delay condition has been pursued which show that the MDL-based method has the ability to guarantee the stability of the whole telerobotic system under randomly varying time-delay condition. Furthermore, MDL-based method provides an uniform mathematical description on discrete control on the master site and continuous execution on the slave site. Simulation results indicate that the proposed method is promising for Networked Manufacturing development. © 2011 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213283
ISSN

 

DC FieldValueLanguage
dc.contributor.authorHua, Jianning-
dc.contributor.authorLi, Hongyi-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:46Z-
dc.date.available2015-07-28T04:06:46Z-
dc.date.issued2011-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2011, p. 1772-1777-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/213283-
dc.description.abstractRobotic teleoperation constitutes a key technique for networked manufacturing system. Since Internet is noisy and performance of telerobotic systems strongly depends on communication conditions, control strategies which could be used to distribute computation and communication resource properly and require less data transmission are required. Motion description language (MDL) is an appropriate solution. In this paper, comparison study between MDL-based and the traditional direct control method under randomly varying time-delay condition has been pursued which show that the MDL-based method has the ability to guarantee the stability of the whole telerobotic system under randomly varying time-delay condition. Furthermore, MDL-based method provides an uniform mathematical description on discrete control on the master site and continuous execution on the slave site. Simulation results indicate that the proposed method is promising for Networked Manufacturing development. © 2011 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleMDL-based control method for mobile robot with randomly varying time-delay-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICRA.2011.5979904-
dc.identifier.scopuseid_2-s2.0-84871695271-
dc.identifier.spage1772-
dc.identifier.epage1777-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats