| Internet-based event synchronization communication driven telerobotics |
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| 引用本文： | Xie Xiaohui,Sun Lining,Du Zhijiang & Cai HegaoRobotic Research Institute,Harbin Institute of Technology,Harbin 150001,P.R.China. Internet-based event synchronization communication driven telerobotics[J]. 系统工程与电子技术(英文版), 2005, 16(2) |
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| 作者姓名： | Xie Xiaohui Sun Lining Du Zhijiang & Cai HegaoRobotic Research Institute Harbin Institute of Technology Harbin 150001 P.R.China |
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| 作者单位： | Xie Xiaohui，Sun Lining，Du Zhijiang & Cai HegaoRobotic Research Institute，Harbin Institute of Technology，Harbin 150001，P.R.China |
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| 基金项目： | ThisprojectwassupportedbytheHighTechResearchandDevelopmentProgramsofChina(8632002AA4201001) |
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| 摘 要： | 1.INTRODUCTION Teleoperationmakeshumansensetoremotesiteand byitmanyapplicationcanbeappliedintoreality.A longdistanceteleoperationmayhavemuchmore meaningtopeople.Throughspace,sea,andnet work,teleoperationshowsitscharm.Whenrobotis inducedinteleoperationastheexecutoritisnamedas telerobotics.NowInternetisprevalentintheworld,overitconstructingateleroboticshasmuchmoread vantagethanothers,likeconstructingeasily,cheap costandmaintenanceconvenientlyetc.Butthereare alsosomedrawbacksinit,liketimede…
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Internet-based event synchronization communication driven telerobotics |
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| Xie Xiaohui,Sun Lining,Du Zhijiang,Cai Hegao. Internet-based event synchronization communication driven telerobotics[J]. Journal of Systems Engineering and Electronics, 2005, 16(2) |
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| Authors: | Xie Xiaohui Sun Lining Du Zhijiang Cai Hegao |
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| Affiliation: | Robotic Research Institute, Harbin Institute of Technology, Harbin 150001, P. R. China |
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| Abstract: | Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol. |
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| Keywords: | Internet-based telerobotics time delay UDP protocol event synchronization communication driven method. |
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