Teleoperations over an IP network : virtual PUMA robot

Author

Fraisse, P. ; Agniel, C. ; Andreu, David ; De Los Rios, J. A Segovia

Author_Institution

LIRMM, Univ. of Montpellier II, France

Volume

2

fYear

2003

fDate

10-12 Dec. 2003

Firstpage

669

Abstract

We present a stable remote position/force control scheme for manipulator robot via Internet based on Smith predictor principle. To validate this control method, we developed a real time Virtual Puma robot based on RT-linux operating system. This virtual robot contains a real time task which computes the differential non linear equation of the PUMA robot including a virtual environment in order to perform a force control loop. Some interesting experiments in the case of long distance (Mexico-France: ∼8000 km) show the real improvement obtained by this method with a long mean time delay (∼250ms). This addition enhances and secures the teleoperation through the internet.

Keywords

IP networks; Internet; Unix; delays; force control; manipulators; nonlinear differential equations; real-time systems; telerobotics; 250 ms; 8000 km; IP network; Internet protocol; Smith predictor principle; differential nonlinear equation; force control; manipulator robot; real time linux operating system; remote position; teleoperation; time delay; virtual PUMA robot; Control systems; Differential equations; Force control; IP networks; Internet; Manipulators; Operating systems; Real time systems; Robots; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2003 IEEE International Conference on

Print_ISBN

0-7803-7852-0

Type

conf

DOI

10.1109/ICIT.2003.1290734

Filename

1290734