{"title":"基于IP网络的远程操作:虚拟PUMA机器人","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":"{\"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}","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}
Teleoperations over an IP network : virtual PUMA robot
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.
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