書誌事項
- タイトル別名
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- Force-Reflecting Bilateral Teleoperation Through the Internet.
- インターネット オ カイシタ チカラ キカンガタ バイラテラル エンカク ソウサ
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抄録
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.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 18 (5), 713-720, 2000
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679704073728
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- NII論文ID
- 10004734061
- 10010553243
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5463712
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可