Internet-based remote teleoperation

Internet-based remote teleoperation

A new method for controlling telerobots over vast distances, where communication propagation delays exist, is presented. A canonical state space formulation is presented, taking into account the time-varying non-deterministic nature of the control and observation delays. A model of the delay charact...

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Hauptverfasser: Brady, K., Tzyh-Jong Tarn
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Automatic testing
Communication system control
Humans
Internet
Orbital robotics
Process design
Propagation delay
Robotics and automation
Safety
State-space methods
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Tzyh-Jong Tarn
description A new method for controlling telerobots over vast distances, where communication propagation delays exist, is presented. A canonical state space formulation is presented, taking into account the time-varying non-deterministic nature of the control and observation delays. A model of the delay characteristics for the communication medium is also derived. Using the state space framework a general purpose supervisory architecture is developed, allowing the projection of human "intelligence" to the remote environment via the telerobot. Dynamics of the robotic system, as well as the delay characteristics of the communication medium, become part of the design process. The design criteria of transparency, generality, and safety have been met and successfully tested in an experimental setup between Albuquerque, New Mexico and Washington University's Center for Robotics and Automation.
doi_str_mv 10.1109/ROBOT.1998.676261
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identifier ISSN: 1050-4729
ispartof Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998, Vol.1, p.65-70 vol.1
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Automatic testing
Communication system control
Humans
Internet
Orbital robotics
Process design
Propagation delay
Robotics and automation
Safety
State-space methods
title Internet-based remote teleoperation
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