UBO - Université de Brest (Université de Bretagne Occidentale - 3 Rue des Archives 29238, Brest - France)
ENSTA Bretagne (2 rue François Verny, 29806 Brest cedex 9 - France)
Abstract : This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experiment results show the effectiveness and applicability of this direct internet control architecture in the real internet environment.
ICINCO 2007, Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, May 2007, Angers, France. pp.267-270, 2007
http://hal.univ-brest.fr/hal-00497821
Contributeur : Philippe Le Parc
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Soumis le : mardi 6 juillet 2010 - 09:05:14
Dernière modification le : mardi 30 janvier 2018 - 09:52:04
Document(s) archivé(s) le : jeudi 7 octobre 2010 - 12:19:04
Zhong Shengtong, Philippe Le Parc, Jean Vareille. Internet-based teleoperation: A case study - toward delay approximation and speed limit module. ICINCO 2007, Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, May 2007, Angers, France. pp.267-270, 2007. 〈hal-00497821〉
