Design of a control strategy for teleoperation of a platform with significant dynamics

被引：3
|
作者：
Bratt, Mattias [1 ]
Smith, Christian [1 ]
Christensen, Henrik I. [1 ]
机构：
[1] Ctr Autonom Syst, KTH, Stockholm, Sweden
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
Internet; prediction; remote bilateral teleoperation; time delay; haptics;
D O I：
10.1109/IROS.2006.282127
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed. It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused by varying delays. The operator interface uses a stereo virtual reality display of the robot cell, and a haptic device for force feed-back including virtual obstacle avoidance forces.
引用
收藏
页码：1700 / +
页数：2
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