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
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;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5718143
