Title :
Telerobotics over IP networks: Towards a low-level real-time architecture
Author :
Lelevé, A. ; Fraisse, P. ; Dauchez, P.
Author_Institution :
LIRMM, Univ. Montpellier II, France
Abstract :
Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. The paper presents our latest works on the improvement of teleoperation loops, by providing a low-level architecture which permits the use of classical teleoperation controls over asynchronous digital links
Keywords :
Internet; delays; local area networks; manipulators; mobile robots; queueing theory; real-time systems; telerobotics; transport protocols; IP networks; asynchronous digital links; asynchronous transmission; long distance teleoperation; low-level real-time architecture; telerobotics; transmission delays; Bandwidth; Control systems; Delay; Digital control; Humans; IP networks; Laboratories; Master-slave; Planets; Predictive models;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976242
