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Hybrid event based control architecture for tele-robotic systems controlled through Internet

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【作者】 李晓明杨灿军陈鹰胡旭东

【Author】 LI Xiao-ming 1, YANG Can-jun 1, CHEN Ying 1, HU Xu-dong 2 (1State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China) (2Zhejiang Institute of Science and Technology, Hangzhou 310033, China)

【机构】 State Key Laboratory of Fluid Power Transmission and ControlZhejiang UniversityZhejiang Institute of Science and Technology Hangzhou 310027ChinaHangzhou 310027Hangzhou 310033China

【Abstract】 A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is pro-posed in this paper. Different from the traditional event based control method, the new framework does not require every part of the system to be strictly event synchronized. Instead, it allows time referenced control components to be integrated into this framework, which makes it more convenient to develop Internet based control systems. Since there are two reference variables, time and event, in this architecture, how to coordinate these components with different references to keep the stability of the whole system is discussed in detail in this paper. To verify this new idea, an experiment was conducted to control the end effector of a PUMA robot tracking a continuous state trajectory given on-line by the remote operator. Ex-perimental results confirmed the stability of such systems being controlled through the Internet in real-time.

【基金】 Project(No.50305035)supportedbytheNationalNaturalSci-enceFoundationofChina
  • 【文献出处】 Journal of Zhejiang University Science ,浙江大学学报(英文版) , 编辑部邮箱 ,2004年03期
  • 【分类号】TP273.5
  • 【被引频次】1
  • 【下载频次】20
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