{"title":"Teleoperations over an IP network : virtual PUMA robot","authors":"P. Fraisse, C. Agniel, D. Andreu, J. de Los Rios","doi":"10.1109/ICIT.2003.1290734","DOIUrl":null,"url":null,"abstract":"We present a stable remote position/force control scheme for manipulator robot via Internet based on Smith predictor principle. To validate this control method, we developed a real time Virtual Puma robot based on RT-linux operating system. This virtual robot contains a real time task which computes the differential non linear equation of the PUMA robot including a virtual environment in order to perform a force control loop. Some interesting experiments in the case of long distance (Mexico-France: /spl sim/8000 km) show the real improvement obtained by this method with a long mean time delay (/spl sim/250ms). This addition enhances and secures the teleoperation through the internet.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"72 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE International Conference on Industrial Technology, 2003","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIT.2003.1290734","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12
Abstract
We present a stable remote position/force control scheme for manipulator robot via Internet based on Smith predictor principle. To validate this control method, we developed a real time Virtual Puma robot based on RT-linux operating system. This virtual robot contains a real time task which computes the differential non linear equation of the PUMA robot including a virtual environment in order to perform a force control loop. Some interesting experiments in the case of long distance (Mexico-France: /spl sim/8000 km) show the real improvement obtained by this method with a long mean time delay (/spl sim/250ms). This addition enhances and secures the teleoperation through the internet.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
