Title :
Picasso: real-time estimation of network delay over a tele-robotic link
Author :
North, Steve ; Sahin, Ferat
Author_Institution :
Dept. of Electr. Eng., Rochester Inst. of Technol., NY, USA
Abstract :
The purpose of the work presented is to create a tele-robotic system that reacts to the user´s input in real-time. This is accomplished by modeling the network delay online as a linear system using a recursive prediction error method. The model is then used to predict the time it will take for the system to receive its next command and to adjust the speed of the system accordingly. The system used is the Mitsubishi´s RV-2AJ robotic arm with 5 degrees of freedom.
Keywords :
manipulators; real-time systems; telerobotics; Internet; Mitsubishi RV-2AJ robotic arm; Picasso; linear system; network delay; real-time estimation; recursive prediction error method; tele-robotic link; user input; Delay effects; Delay estimation; Internet; Laboratories; Mice; Painting; Robot kinematics; Shape control; Smoothing methods; Telerobotics;
Conference_Titel :
Systems, Man and Cybernetics, 2002 IEEE International Conference on
Print_ISBN :
0-7803-7437-1
DOI :
10.1109/ICSMC.2002.1176419
