A multi-rate control approach to haptic interaction in multi-user virtual environments

被引：2
|
作者：
Fotoohi, M. [1 ]
Sirouspour, S. [1 ]
Capson, D. [1 ]
机构：
[1] McMaster Univ, Dept Elect & Comp Engn, Hamilton, ON L8S 4K1, Canada
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1109/ROBOT.2007.363771
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
High-fidelity haptic interaction in multi-user environments over general Ethernet-based Local Area Networks (LAN) and Metropolitan Area Networks (MAN) can be challenging but has promising applications. Under typical network traffic conditions, the 1kHz real-time control rate suggested in the literature for stable haptic simulation is well above that achievable by conventional network protocols such as the UDP and TCP/IP. To overcome this limitation, a decentralized multi-rate control approach is proposed in which local force-feedback loops are executed at higher rates than data packet transmission between the user workstations. Mathematical models for stability and performance analysis of such multi-rate haptic control systems are presented. Analytical and experimental results demonstrate improved performance and stability for the distributed control architecture when compared with a centralized controller.
引用
收藏
页码：99 / 104
页数：6
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