Haptic tele-driving of wheeled mobile robot over the internet via PSPM approach: theory and experiment.
ADVANCED ROBOTICS(2018)
摘要
We propose novel haptic tele-driving control frameworks of a wheeled mobile robot (WMR) over the imperfect Internet communication network with varying delay and packet loss. We consider both the dynamic and kinematic WMRs and their various tele-driving modes. By utilizing passive set-position modulation framework, we can guarantee two-port passivity or passivity/stability combination of the closed-loop tele-driving system with some theoretical performance measures. Experiments are performed to show the efficacy of the proposed frameworks using the Internet-emulated communication and a custom-built dynamic/kinematic WMR.
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关键词
Haptic feedback,Internet communication,passivity,teleoperation,wheeled mobile robot
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