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题名: Passive scattering transform bilateral teleoperation for an Internet-based mobile robot
作者: Chen YB(陈宜滨); Xi N(席宁); Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
会议日期: December 11-14, 2012
会议地点: Guangzhou, China
会议主办者: IEEE Robotics and Automation Society
会议录: Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 643-648
收录类别: EI
ISBN号: 978-1-4673-2125-9
摘要: The random time delay brings great challenges to the controller design for the Internet-based teleoperation system, the worst case is that it can destabilize the Internet-based teleoperation system. This paper first gives a brief historical preview of bilateral passive control theory, and then a direct passive scattering transform method, extending the passive bilateral control method to the Internet-based random time delay teleoperation system, is advanced to guarantee the teleoperation system’s stability with any non-symmetric random network time delay. Finally, a virtual master-slave manipulator bilateral control scheme is designed for mobile robot teleoperation based on the passive scattering transformation method, and simulations are carried out to verify the results at the end of this paper.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10213
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Chen YB,Xi N,Li HY. Passive scattering transform bilateral teleoperation for an Internet-based mobile robot[C]. 见:2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012). Guangzhou, China. December 11-14, 2012.
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