Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics

Author

Bratt, Mattias ; Smith, Christian ; Christensen, Henrik I.

Author_Institution

Centre for Autonomous Syst., KTH, Stockholm

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

1700

Lastpage

1705

Abstract

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

Keywords

Internet; collision avoidance; control engineering computing; control system synthesis; delays; force feedback; haptic interfaces; manipulator dynamics; mobile robots; predictive control; telerobotics; three-dimensional displays; virtual reality; Internet; control strategy design; delays; force feedback; haptic device; operator interface; platform teleoperation; predictive control structure; robot dynamics; stereo virtual reality display; virtual obstacle avoidance; Communication system control; Control systems; Delay effects; Haptic interfaces; Humans; Intelligent robots; Internet; Kinematics; Orbital robotics; Predictive models; Internet; haptics; prediction; remote bilateral tele-operation; time delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282127

Filename

4058620