Force-Reflecting Bilateral Teleoperation Through the Internet
Force-Reflecting Bilateral Teleoperation Through the Internet
复制标题
通过互联网进行力反射双边远程操作
DOI：
10.7210/jrsj.18.713
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
K. Okamoto
中科院分区：
文献类型：
--
作者：
H. Fujimoto;A. Sano;K. Okamoto
力反射在复杂的遥操作中是非常重要的。本研究旨在透过网际网路开发具实用性的力觉遥操作机器人，并假设其时间延迟为数百毫秒。由于网络中存在的传输时延变化迅速且可能是随机的，因此很难保证网络的稳定性。因此，本文基于H∞增益调度的框架，设计了根据在线观测的往返时延进行调整的时变控制器。这种控制策略可以在运行条件变化较大的情况下实现更高的性能。此外，从网络化机器人的角度来看，通信协议和图像数据的压缩进行了研究。通过互联网上的双边遥操作实验验证了该方法的有效性。
Force-reflection is considerably essential in the complex teleoperations. This study aims to develop the practical force-reflecting teleoperators through the Internet, and supposes the time delay on the order of several hundred milliseconds. Since the transmission delays exist in network vary rapidly and possibly randomly, it is very difficult to ensure the stability. Accordingly, in this paper, the time-varying controllers which are adjusted to the round trip time delay observed on-line is designed based on the framework of the H∞ gain scheduling. This control strategy can achieve higher performance in the face of large variations in operating conditions. Furthermore, both communications protocol and compression of image data are investigated from the networked robotic point of view. The validity of proposed method is demonstrated by experiments of the bilateral teleoperation through the Internet.