Teleoperation using computer networks: prototype realization and performance analysis
Teleoperation using computer networks: prototype realization and performance analysis
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使用计算机网络进行远程操作：原型实现和性能分析
DOI：
10.1109/melcon.1996.551412
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Andrenucci
中科院分区：
文献类型：
--
作者：
F. Paolucci;M. Andrenucci
本文介绍了一种利用分组交换计算机网络作为通信资源的远程操作试验台。选择计算机网络是因为它们既广泛又灵活，但是它们不像传统的远程操作那样直接，因为它们不是为实时通信而设计的。详细研究了时延、数据丢失等通信参数对远程操作性能的影响。在真实网络和仿真网络上进行了实验，但采用了人在环操作。提出了一种新的基于自适应滤波的动觉数据编码技术。实验结果表明，计算机网络可以适用于机械手的远程控制。
This article describes a teleoperation testbed using packed switched computer networks as a communication resource. Computer networks were selected as they are both widespread and flexible, however they are not as straightforward as traditional teleoperation, because they are not designed for real time communication. The influence of communication parameters, such as delays and data losses, on teleoperation performance is studied in detail. Experiments were carried out both on real networks and in simulation, but with man in the loop operation. A new coding technique for kinaesthetic data, based on adaptive filtering, is proposed. The experiment conducted show that computer networks can be suitable for the remote control of manipulators.