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- Publisher Website: 10.1109/ROBIO.2012.6491039
- Scopus: eid_2-s2.0-84876462870
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Conference Paper: Passive scattering transform bilateral teleoperation for an Internet-based mobile robot
| Title | Passive scattering transform bilateral teleoperation for an Internet-based mobile robot |
|---|---|
| Authors | |
| Issue Date | 2012 |
| Citation | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, p. 643-648 How to Cite? |
| Abstract | The random time delay brings great challenges to the controller design for the Internet-based teleoperation system, the worst case is that it can destabilize the Internet-based teleoperation system. This paper first gives a brief historical preview of bilateral passive control theory, and then a direct passive scattering transform method, extending the passive bilateral control method to the Internet-based random time delay teleoperation system, is advanced to guarantee the teleoperation system's stability with any non-symmetric random network time delay. Finally, a virtual master-slave manipulator bilateral control scheme is designed for mobile robot teleoperation based on the passive scattering transformation method, and simulations are carried out to verify the results at the end of this paper. © 2012 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/213303 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Chen, Yibin | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Li, Hongyi | - |
| dc.date.accessioned | 2015-07-28T04:06:49Z | - |
| dc.date.available | 2015-07-28T04:06:49Z | - |
| dc.date.issued | 2012 | - |
| dc.identifier.citation | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, p. 643-648 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/213303 | - |
| dc.description.abstract | The random time delay brings great challenges to the controller design for the Internet-based teleoperation system, the worst case is that it can destabilize the Internet-based teleoperation system. This paper first gives a brief historical preview of bilateral passive control theory, and then a direct passive scattering transform method, extending the passive bilateral control method to the Internet-based random time delay teleoperation system, is advanced to guarantee the teleoperation system's stability with any non-symmetric random network time delay. Finally, a virtual master-slave manipulator bilateral control scheme is designed for mobile robot teleoperation based on the passive scattering transformation method, and simulations are carried out to verify the results at the end of this paper. © 2012 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest | - |
| dc.title | Passive scattering transform bilateral teleoperation for an Internet-based mobile robot | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBIO.2012.6491039 | - |
| dc.identifier.scopus | eid_2-s2.0-84876462870 | - |
| dc.identifier.spage | 643 | - |
| dc.identifier.epage | 648 | - |