This paper presents a novel communication law for teleoperators in the presence of substantial time delay. This new communication law can guarantee the stability of teleoperators in any time delay. The performance of ...This paper presents a novel communication law for teleoperators in the presence of substantial time delay. This new communication law can guarantee the stability of teleoperators in any time delay. The performance of teleoperators which use this new communication law is improved greatly.展开更多
Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to e...Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to establish a more precise model.The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote.Then the sliding average least squares(SALS)method was adopted to determine the mass,damp,and stiffness of the remote environment and use this information to amend the dynamic model of the environment.Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay,and improve the operational performance of the teleoperation system.展开更多
基金Supported by the youth science fund of MPTthe National Natural Science Foundation of China
文摘This paper presents a novel communication law for teleoperators in the presence of substantial time delay. This new communication law can guarantee the stability of teleoperators in any time delay. The performance of teleoperators which use this new communication law is improved greatly.
基金supported by the High-Tech Research and Development Program of China (No.2002AA742048)National Natural Science Foundation of China (Grant No.60475034 and 60643007).
文摘Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to establish a more precise model.The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote.Then the sliding average least squares(SALS)method was adopted to determine the mass,damp,and stiffness of the remote environment and use this information to amend the dynamic model of the environment.Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay,and improve the operational performance of the teleoperation system.
