Title :
A novel real-time control architecture for internet-based thin-client robot; simulacrum-based approach
Author :
Kim, Kyung Jin ; Suh, Il Hong ; Kim, Sung Hoon ; Oh, Sang Rok
Abstract :
There are many difficulties to remotely control a robot over Internet such as transmission time delay, limitation of bandwidth, and packet loss. In this paper, we propose a novel remote control architecture and a communication architecture for Internet-based robots, which is insensitive to the transmission time delay and packet loss. The proposed architecture guarantees enhanced remote control by providing the perfect copy of the status of remote robot at real-time. The communication protocol has a flexible packet format and various packet sizes at runtime for robust and reliable control mechanism. The architecture together with the protocol provides improved control performance. Experiments shows that the effectiveness and applicability of the internet-based robot with the proposed architecture.
Keywords :
Internet; protocols; real-time systems; robot programming; telecontrol; Internet-based robots; Internet-based thin-client robot; Simulacrum-based approach; communication architecture; communication protocol; real-time control architecture; remote control architecture; remote robot; remotely control; transmission time delay; Bandwidth; Communication system control; Delay effects; Internet; Propagation losses; Protocols; Robot control; Robust control; Runtime; Size control;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543838