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Titolo:
Stability analysis of non-time referenced Internet-based telerobotic systems
Autore:
Xi, N; Tarn, TJ;
Indirizzi:
Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA Michigan State Univ E Lansing MI USA 48824 Engn, E Lansing, MI 48824 USA Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA Washington Univ St Louis MO USA 63130 Sci & Math, St Louis, MO 63130 USA
Titolo Testata:
ROBOTICS AND AUTONOMOUS SYSTEMS
fascicolo: 2-3, volume: 32, anno: 2000,
pagine: 173 - 178
SICI:
0921-8890(20000831)32:2-3<173:SAONRI>2.0.ZU;2-5
Fonte:
ISI
Lingua:
ENG
Keywords:
internet; robot control; teleoperation; human/robot interaction; delay system;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
10
Recensione:
Indirizzi per estratti:
Indirizzo: Xi, N Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USAMichigan State Univ E Lansing MI USA 48824 E Lansing, MI 48824 USA
Citazione:
N. Xi e T.J. Tarn, "Stability analysis of non-time referenced Internet-based telerobotic systems", ROBOT AUT S, 32(2-3), 2000, pp. 173-178

Abstract

This paper explores a new method for action synchronization and control oftelerobotic systems. The significance of the method is that it can effectively deal with the random time delay existing in the communication channel,such as the Internet. In addition, the result is independent of human operator. First, a novel non-time referenced action control scheme will be introduced. Instead of using time as an action reference, a new sensor-based action reference will be developed. As a result, the communication delay willhave little impact on the operations, in particular the stability of the system. Furthermore the stability of the system is not dependent on the model of the human operator in the system. All these will lead to the development of the theoretical foundation on the stability of robotic systems involving human operators. The implementations and experimental outcomes presented herein will verify the theoretical results. (C) 2000 Elsevier Science B.V. All rights reserved.

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Documento generato il 27/11/20 alle ore 22:02:35