DocumentCode
2583883
Title
Haptic tele-driving of a wheeled mobile robot over the Internet: A PSPM approach
Author
Zuo, Zhiyuan ; Lee, Dongjun
Author_Institution
Dept. of Mech., Aerosp. & Biomed. Eng., Univ. of Tennessee, Knoxville, TN, USA
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
3614
Lastpage
3619
Abstract
We extend recently proposed passive set-position modulation (PSPM) framework for the wheeled mobile robots (WMR) tele-driving over the Internet with varying-delay and packet-loss. We consider both the dynamic and kinematic WMRs in various tele-driving modes. Passivity and/or stability of the closed-loop system are shown along with some theoretical performance measures. Experimental results are also given to show the efficacy of the proposed frameworks.
Keywords
Internet; closed loop systems; control engineering computing; delays; haptic interfaces; mobile robots; robot dynamics; robot kinematics; stability; telerobotics; Internet; closed loop system; dynamic WMR; haptic teledriving; kinematic WMR; packet loss; passive set position modulation framework; stability; varying delay; wheeled mobile robots; Delay; Dynamics; Force; Haptic interfaces; Humans; Kinematics; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5718143
Filename
5718143
Link To Document