Network-based force-reflecting teleoperation
Network-based force-reflecting teleoperation
复制标题
基于网络的力反射遥操作
DOI：
10.1109/robot.2000.845144
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Toshihito Takai
中科院分区：
文献类型：
--
作者：
A. Sano;H. Fujimoto;Toshihito Takai
力反射在复杂的遥操作中是非常重要的。本研究旨在开发一种实用的力觉遥操作机器人，并假设机器人的时间延迟为几百毫秒。由于网络中存在的传输时延变化迅速且可能是随机的，因此很难保证其稳定性。因此，本文基于H/sub /spl infin//gain调度框架，设计了时变控制器，该控制器根据在线观测的往返时延进行调整。双边遥操作实验表明，该方法的有效性通过互联网。
Force-reflection is significantly important in complex teleoperations. This study aims to develop a practical force-reflecting teleoperator through the Internet, and supposes the time delay in the order of several hundred milliseconds. Since the transmission delays existing 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 online are designed based on the framework of the H/sub /spl infin// gain-scheduling. The validity of the proposed method is demonstrated by experiments of the bilateral teleoperation through the Internet.