Title :
Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
Author :
Bratt, Mattias ; Smith, Christian ; Christensen, Henrik I.
Author_Institution :
Centre for Autonomous Syst., KTH, Stockholm
Abstract :
A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed. It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused by varying delays. The operator interface uses a stereo virtual reality display of the robot cell, and a haptic device for force feed-back including virtual obstacle avoidance forces
Keywords :
Internet; collision avoidance; control engineering computing; control system synthesis; delays; force feedback; haptic interfaces; manipulator dynamics; mobile robots; predictive control; telerobotics; three-dimensional displays; virtual reality; Internet; control strategy design; delays; force feedback; haptic device; operator interface; platform teleoperation; predictive control structure; robot dynamics; stereo virtual reality display; virtual obstacle avoidance; Communication system control; Control systems; Delay effects; Haptic interfaces; Humans; Intelligent robots; Internet; Kinematics; Orbital robotics; Predictive models; Internet; haptics; prediction; remote bilateral tele-operation; time delay;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282127
