Internet-based remote teleoperation

Author

Brady, Kevin ; Tarn, Tzyh-Jong

Author_Institution

Lincoln Lab., MIT, Lexington, MA, USA

Volume

1

fYear

1998

fDate

16-20 May 1998

Firstpage

65

Abstract

A new method for controlling telerobots over vast distances, where communication propagation delays exist, is presented. A canonical state space formulation is presented, taking into account the time-varying non-deterministic nature of the control and observation delays. A model of the delay characteristics for the communication medium is also derived. Using the state space framework a general purpose supervisory architecture is developed, allowing the projection of human “intelligence” to the remote environment via the telerobot. Dynamics of the robotic system, as well as the delay characteristics of the communication medium, become part of the design process. The design criteria of transparency, generality, and safety have been met and successfully tested in an experimental setup between Albuquerque, New Mexico and Washington University´s Center for Robotics and Automation

Keywords

Internet; delays; robot dynamics; state-space methods; telerobotics; time-varying systems; Internet; communication propagation delays; dynamics; observation delays; state space; supervisory architecture; teleoperation; telerobots; time-varying systems; Automatic testing; Communication system control; Humans; Internet; Orbital robotics; Process design; Propagation delay; Robotics and automation; Safety; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.676261

Filename

676261