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首页> 外文会议>Instrumentation and Measurement Technology Conference (I2MTC), 2012 IEEE International >Telemanipulation over wide-area internet communication networks With time varying delay
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Telemanipulation over wide-area internet communication networks With time varying delay

机译：具有时变时延的广域Internet通信网络上的远程操纵

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摘要

This paper presents delay dependent teleoperation strategy over wide-area communication network under symmetric and asymmetric time varying transmission delay. The local and remote device is coupled by delayed position and adaptive impedance reflection of the remote slave-environment's interaction force. Local nonlinear adaptive terms for both master-slaves are deployed to estimate uncertain parameter of the gravity loading vector. An adaptive impedance force-reflection algorithm is designed for slave device to estimate the remote impedance characteristics of the interaction force between slave and remote task environment. The on-line estimated remote slave-environment's characteristics are then transmitted back to the master device via using communication channels in order to reproduce remote slave-environment's interaction force at the human operator hand. Lyapunov-Krasovskii-like functional is employed to derive stability condition for the coupled master-slave teleoperators. Finally, simulation is conducted to demonstrate the validity of the proposed design for real-time applications.
机译：提出了在对称和不对称时变传输时延下，广域通信网络中依赖时延的遥操作策略。本地和远程设备通过远程从属环境交互作用力的延迟位置和自适应阻抗反射耦合。用于两个主从的局部非线性自适应项被用于估计重力载荷矢量的不确定参数。针对从设备设计了一种自适应阻抗力反射算法，以估计从设备与远程任务环境之间相互作用力的远程阻抗特性。在线估计的远程从环境的特征然后通过使用通信信道被传输回主设备，以便在操作员手上再现远程从环境的相互作用力。使用类似Lyapunov-Krasovskii的功能来导出耦合的主从式遥操作器的稳定性条件。最后，进行仿真以证明所提出的设计在实时应用中的有效性。

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