제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.82.1-82
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- 2001
Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays
초록
It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which is unstable and inaccurate. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input interval. That means the entire system has ...
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