Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
2006 (English)In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK, NY: IEEE , 2006, 1700-1705 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
NEW YORK, NY: IEEE , 2006. 1700-1705 p.
Internet, prediction, remote bilateral teleoperation, time delay, haptics
IdentifiersURN: urn:nbn:se:kth:diva-38197DOI: 10.1109/IROS.2006.282127ISI: 000245452401117ScopusID: 2-s2.0-34250683405ISBN: 978-1-4244-0258-8OAI: oai:DiVA.org:kth-38197DiVA: diva2:436248
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA. OCT 09-13, 2006
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QC 201110062012-01-112011-08-222012-01-11Bibliographically approved