摘要
Aiming at the tele-operation instability caused by time delay of internet information transfer for internet based tele-robotics, this paper proposes a novel control framework for internet based tele-robotics, which can guarantee the non-distortion-transfer of control information and reduce the difference of action time between the local simulated virtual robot and the remote real robot. This framework is insensitive to the inherent internet time delay, and differs from other tele-robotics systems that try to use some mathematic models to describe the internet delay or take some assumptions. In order to verify the framework, a 4-DOF fischertechnik industry robot tele-operation system has been developed using the new proposed framework. Experimental results demonstrate the applicable performance of the new framework. The framework is open structured and can be applied to other general purposed tele-operation systems.
Aiming at the tele-operation instability caused by time delay of interuet information transfer for internet based tele-robotics, this paper proposes a novel control framework for internet based tele-roboties, which can guarantee the non-distortion-transfer of control information and reduce the difference of action time between the local simulated virtual robot and the remote real robot. This framework is insensitive to the inherent interact time delay, and differs from other tele-robotics systems that try to use some mathematic models to describe the internet delay or take some assumptions. In order to verify the framework, a 4-DOF fischertechnik industry robot tele-operation system has been developed using the new proposed framework. Experimental results demonstrate the applicable performance of the new framework. The framework is open structured and can be applied to other general purposed tele-operation systems.
基金
Sponsored by the National Natural Science Foundation of China (Grant No. 60776816)
Scientific Research Foundation of Education Department of Yunnan Province (Grant No.08Y10326)
关键词
控制框架
机器人
时间迟滞
自动控制
control framework
internet based tele-robotics
time delay