INTERNET-BASED TELEOPERATION: A CASE STUDY - Toward Delay Approximation and Speed Limit Module

Shengtong Zhong, Philippe Le Parc, Jean Vareille

2007

Abstract

This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experimental results show the effectiveness and applicability of this direct internet control architecture in the real internet environment.

References

  1. Andreu, D., Fraisse, P., Roqueta, V., Zapata, R., 2003. Internet enhanced teleoperation toward a remote supervised delay regulator. ICIT'03, IEEE Int. Conf. on Industrial Technology, Maribor.
  2. Ogor, P., 2001. Une architecture générique pour la supervision sure à distance de machines de production avec Internet. Ph.D. thesis, Université de Bretagne Occidentale.
  3. ADEPA, 1981. GEMMA: Guide d'études des modes de marche et d'arrêt.
  4. Meng Wang, and James N.K. Liu, 2005. Interactive control for Internet-based mobile robot teleoperation. Robotics and Autonomous Systems, Volume 52, Issues 2- 3, 31 August 2005, Pages 160-179.
  5. K.-H. Han, J.-H. Kim, 2002. Direct Internet Control Architecture for Personal Robot. Proc. of the 2002 FIRA Robot World Congress, pp. 264-268, Seoul.
  6. P. Ogor, P. Le Parc, J. Vareille et L. Marcé, 2001. Control a Robot on Internet. 6th IFAC Symposium on Cost Oriented Automation, Berlin.
  7. J. Vareille, P. Le Parc et L. Marcé, 2004. Web remote control of mechanical systems: delay problems and experimental measurements of Round Trip Time. 2nd Workshop CNRS-NSF Applications of Time-Delay systems, Nantes.
Download


Paper Citation


in Harvard Style

Zhong S., Le Parc P. and Vareille J. (2007). INTERNET-BASED TELEOPERATION: A CASE STUDY - Toward Delay Approximation and Speed Limit Module . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 267-270. DOI: 10.5220/0001648202670270


in Bibtex Style

@conference{icinco07,
author={Shengtong Zhong and Philippe Le Parc and Jean Vareille},
title={INTERNET-BASED TELEOPERATION: A CASE STUDY - Toward Delay Approximation and Speed Limit Module},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={267-270},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001648202670270},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - INTERNET-BASED TELEOPERATION: A CASE STUDY - Toward Delay Approximation and Speed Limit Module
SN - 978-972-8865-83-2
AU - Zhong S.
AU - Le Parc P.
AU - Vareille J.
PY - 2007
SP - 267
EP - 270
DO - 10.5220/0001648202670270