Affiliation:
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, People's Republic of China
Abstract
A novel control architecture based on a multi-event for tele-operation with an exoskeleton arm over the internet in case of transmission delay and communication failure is proposed. In this proposed control scheme a non-time event reference s is chosen to coordinate two sites and promises synchronization of the system. In addition, more than one event generator is employed to compose the multi-event-based control structure, in which the state of the slave site and uncertainties on the master site, such as singularity of the master arm and so on, are both evaluated. Through the bilateral tele-operation experiments in case of time delay with a rigid obstacle and master arm singularity structure, this control scheme is well demonstrated. The tele-operation system has solid performance with good stability and synchronization.
Cited by
3 articles.
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1. ROS-based remote control of industrial robot joystick;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2022-08-16
2. Tensor product model transformation-based control design for force reflecting tele-grasping under time delay;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2013-05-23
3. A sliding-mode controller for dual-user teleoperation with unknown constant time delays;Robotica;2012-10-19