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题名: MDL-based control method for mobile robot with randomly varying time-delay
作者: Hua JN(化建宁) ; Li HY(李洪谊) ; Wang YC(王越超) ; Xi N(席宁)
作者部门: 机器人学研究室
会议名称: 2011 IEEE International Conference on Robotics and Automation
会议日期: May 9-13, 2011
会议地点: Shanghai, China
会议主办者: IEEE Robotics Autom. Soc.
会议录: 2011 IEEE International Conference on Robotics and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2011
页码: 1772-1777
收录类别: CPCI(ISTP) ; EI
ISSN号: 1050-4729
ISBN号: 978-1-61284-386-5
摘要: Robotic teleoperation constitutes a key technique for networked manufacturing system. Since Internet is noisy and performance of telerobotic systems strongly depends on communication conditions, control strategies which could be used to distribute computation and communication resource properly and require less data transmission are required. Motion description language (MDL) is an appropriate solution. In this paper, comparison study between MDL-based and the traditional direct control method under randomly varying time-delay condition has been pursued which show that the MDL-based method has the ability to guarantee the stability of the whole telerobotic system under randomly varying time-delay condition. Furthermore, MDL-based method provides an uniform mathematical description on discrete control on the master site and continuous execution on the slave site. Simulation results indicate that the proposed method is promising for Networked Manufacturing development.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8768
Appears in Collections:机器人学研究室_会议论文

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