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Frontiers of Mechanical Engineering

ISSN 2095-0233

ISSN 2095-0241(Online)

CN 11-5984/TH

Postal Subscription Code 80-975

2018 Impact Factor: 0.989

Front. Mech. Eng.    2008, Vol. 3 Issue (3) : 299-306    https://doi.org/10.1007/s11465-008-0049-7
Real-time mobile robot teleoperation via Internet based on predictive control
WANG Shihua1, XU Bugong1, WANG Shihua2, ZHOU Yeming2, LIU YunHui3
1.Laboratory of Real-Time Control Through Internet and Fieldbuses, College of Automation Science and Engineering, South China University of Technology; 2.Naval Arms Command Academy of Guangzhou; 3.Department of Automation and Computer Aided Engineering, The Chinese University of Hong Kong
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Abstract A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.
Issue Date: 05 September 2008
 Cite this article:   
WANG Shihua,XU Bugong,WANG Shihua, et al. Real-time mobile robot teleoperation via Internet based on predictive control[J]. Front. Mech. Eng., 2008, 3(3): 299-306.
 URL:  
https://academic.hep.com.cn/fme/EN/10.1007/s11465-008-0049-7
https://academic.hep.com.cn/fme/EN/Y2008/V3/I3/299
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