Operation Modes and Control Schemes for a Telerobot with Time Delay | Zendy

Pengwen Xiong | Zendy; Aiguo Song | Zendy; Kui Qian | Zendy; Liyun Zhang | Zendy; Xiaog Xu | Zendy

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Operation Modes and Control Schemes for a Telerobot with Time Delay

Author(s) -

Pengwen Xiong,

Aiguo Song,

Kui Qian,

Liyun Zhang,

Xiaog Xu

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/50649

Subject(s) - telerobotics , computer science , control theory (sociology) , master/slave , scheme (mathematics) , transparency (behavior) , control system , channel (broadcasting) , task (project management) , mode (computer interface) , control engineering , control (management) , simulation , robot , engineering , telecommunications , artificial intelligence , mathematical analysis , mathematics , computer security , systems engineering , electrical engineering , mobile robot , operating system

Telerobot 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 telerobot systems, varying time delay causes the overall system unstable and reduces the performance of transparency. In this paper, we propose twelve operation modes with different control schemes for telerobot on the Internet with time delay. And an optimal operation mode with control scheme is specified for telerobot with time delay, based on the tradeoff between passivity and transparency properties. We experimentally confirm the validity of the proposed optimal mode and control scheme by using a simple one DOF master–slave manipulator system

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