Force-Reflecting Bilateral Teleoperation Through the Internet.
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- Fujimoto Hideo
- Nagoya Institute of Technology
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- Sano Akihito
- Nagoya Institute of Technology
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- Okamoto Keiji
- Matsushita Communication Industrial Co., Ltd.
Bibliographic Information
- Other Title
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- インターネットを介した力帰還型バイラテラル遠隔操作
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 18 (5), 713-720, 2000
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679704073728
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- NII Article ID
- 10004734061
- 10010553243
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 5463712
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- Text Lang
- ja
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- Data Source
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed