| Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay |
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| 作者姓名： | 曾庆军 宋爱国 |
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| 作者单位： | [1]Inst.ofAutomation,ShanghaiJiaotongUniv.,Shanghai200030,China;Dept.ofElectronicandInformationEng.,EastChinaShipbuildingInst.Zhenjiang212003 [2]Dept.ofInstrumentScienceandEng.,SoutheastUniv.,Nanjing210096 |
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| 基金项目： | Foundation for U niversity Key Teacher bythe Ministry of Education and National Natural Science Founda-tion of China ( No.69875 0 0 4) and 863 High-Tech Plan ( No.2 0 0 1AA42 3 2 40 ) |
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| 摘 要： | Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manioulator system.
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| 关 键 词： | 操作模式 控制方案 互联网 延时系统 遥控操作系统 |
Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay |
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| ZENG Qing-jun ,SONG Ai-guo.Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay[J].Journal of Shanghai Jiaotong university,2003,8(2):169-174. |
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| Authors: | ZENG Qing-jun SONG Ai-guo |
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| Institution: | 1. Inst. of Automation, Shanghai Jiaotong Univ. , Shanghai 200030, China;Dept. of Electronic and Information Eng. , East China Shipbuilding Inst. Zhenjiang 212003
2. Dept. of Instrument Science and Eng. , Southeast Univ. , Nanjing 210096 |
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| Abstract: | Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system. |
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| Keywords: | teleoperation system operation modes time-delay |
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