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题名: Predictive path parameterization for the teleoperation systems via internet
作者: Chen D(陈丹) ; Xi N(席宁) ; Wang YC(王越超) ; Tang XS(唐旭晟)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期: December 15-18, 2007
会议地点: Sanya, China
会议主办者: IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 297-301
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1761-2
关键词: model predictive control ; optimization method ; path parameterizadon ; robot ; Internet
摘要: In this paper, we present a predictive strategy for teleoperating via communication channel with unknown and variable time delay, where the remote robot is compensated to be a linear system. According to the state received from remote plant and the local predictor, a discrete-time device called path governor(PG) generates on fine a suitable time-parameterization of the path to be tracked, by solving at fixed interval a look-ahead optimization problem. In order to demonstrate its effectiveness, a master/slave teleoperation problem over Internet is considered. Experimental results show that the teleoperation system can be stable and has good tracking performance under three circumstances.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8832
Appears in Collections:机器人学研究室_会议论文

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