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TECHNICAL PAPERS

Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation

[+] Author and Article Information
Saghir Munir, Wayne J. Book

George W. Woodruff School of Mechanical Engineering, Georgia Institute Of Technology, Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 125(2), 205-214 (Jun 04, 2003) (10 pages) doi:10.1115/1.1568120 History: Received June 01, 2002; Revised January 01, 2003; Online June 04, 2003
Copyright © 2003 by ASME
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References

Taylor, K., and Dalton, B., 1999, “Internet Robots: A New Robotics Niche,” Mech. IEEE Rob. Autom. Mag., pp. 27–34.
Overstreet, W. J., and Tzes, A., 1999, “An Internet-Based Real-Time Control Engineering Laboratory,” IEEE Control Syst. Mag., pp. 19–34.
Oboe,  R., and Fiorini,  P., 1998, “A Design and Control Environment for Internet-Based Telerobotics,” Int. J. Robot. Res., 17(4), pp. 433–499.
Tarn, T.-J., and Brady, K., 1997, “A Framework for the Control of Time-Delayed Telerobotic Systems,” IFAC Robot Control, SYROCO, Nantes, France, pp. 599–604.
Brady, K., 1997, “Time-Delayed Control of Telerobotic Manipulators,” Ph.D. thesis, Dept. of Systems Science and Mathematics, Washington Univ.
Brady, K., and Tarn, T.-J., 1998, “Internet-Based Remote Teleoperation,” IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 65–70.
Watanabe,  K., and Ito,  M., 1981, “An Observer for Linear Feedback Control Laws of Multivariable Systems with Multiple Delays in Controls and Outputs,” Syst. Control Lett., 1(1), pp. 54–59.
Niemeyer,  G., and Slotine,  J.-J. E., 1991, “Stable Adaptive Teleoperation,” IEEE Trans. Autom. Control, 16(1), pp. 152–162.
Niemeyer, G., 1996, “Using Wave Variables in Time Delayed Force Reflecting Teleoperation,” Ph.D. thesis, Dept. of Aeronautics and Astronautics, Massachusetts Institute of Technology.
Niemeyer, G., and Slotine, J.-J. E., 1997, “Designing Force Reflecting Teleoperators with Large Time Delays to Appear as Virtual Tools,” IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, pp. 2212–2218.
Niemeyer, G., and Slotine, J.-J. E., 1997, “Using Wave Variables for System Analysis and Robot Control,” IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, pp. 1619–1625.
Niemeyer, G., and Slotine, J.-J. E., 1998, “Towards Force-Reflecting Teleoperation Over the Internet,” IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 1909–1915.
Anderson,  R. J., and Spong,  M. W., 1989, “Bilateral Control of Teleoperators with Time Delay,” IEEE Trans. Autom. Control, 34(5), pp. 494–501.
Anderson, R. J., 1994, SMART Class Notes, Intelligent Systems & Robotics Center, Sandia National Laboratories.
Munir, S., 2001, “Internet-Based Teleoperation” Ph.D. thesis, George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology.
Munir, S., and Book, W., 2001, “Wave-Based Teleoperation with Prediction,” American Controls Conf.
Munir, S. and Book, W. 2001, “Internet Based Teleoperation using Wave Variables with Prediction,” IEEE/ASME International Conf. on Advanced Intelligent Mechatronics, Como.
Smith,  O. J. M., 1957, “Closer Control of Loops with Dead Time,” Chem. Eng. Prog., 53(5), pp. 217–219.

Figures

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Multi-degree of freedom bilateral teleoperator
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Wave-based communication, by transforming velocity-force variables to wave variables before transmission and then back to velocity-force variable after transmission; Note: The gray boxes indicate wave transformations.
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Possible arrangement of a predictor incorporated inside the wave junction
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Overall prediction scheme
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Linear system with delays in the input and output
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Experimental setup scheme
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Master robot and the control software
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Closed loop delay between master and slave (data reflected from Tokyo, Japan)
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Regular teleperation teleoperation (data reflected from Tokyo, Japan)
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Wave-based teleoperation (with data reflected from Toyko, Japan)
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Wave-based teleoperation with prediction (data reflected from Tokyo, Japan)
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Observer based teleoperation (data reflected from Tokyo, Japan)

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