| Hybrid event based control architecture for tele-robotic systems controlled through Internet |
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| 作者姓名： | 李晓明 杨灿军 陈鹰 胡旭东 |
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| 作者单位： | State Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，State Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，State Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，Zhejiang Institute of Science and Technology Hangzhou 310027，China，Hangzhou 310027，China，Hangzhou 310027，China，Hangzhou 310033，China |
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| 基金项目： | Project(No.50305035)supportedbytheNationalNaturalSci-enceFoundationofChina |
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| 摘 要： | INTRODUCTIONWiththerapiddevelopmentofInternettech-nology,moreandmoreInternetbasedapplicationsinindustrieshavebeenbroughtforth,rangingfromwebbaseddataacquisition(Huetal.,2002)torobotssharingthroughtheInternet(Safaricetal.,1999).Inrecentyears,manyscientistsandengi-neershavedevotedenthusiasticallymuchtimetostudyofInternetbasedtele-roboticsystems(BradyandTarn,2001).Internet,asachannelofcommu-nication,providesanewmediaforcontrolsignalsandsensoryinformationdeliverycontrollablethroughtheInter…
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Hybrid event based control architecture for tele-robotic systems controlled through Internet |
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| LI Xiao-ming ,YANG Can-jun ,CHEN Ying ,HU Xu-dong.Hybrid event based control architecture for tele-robotic systems controlled through Internet[J].Journal of Zhejiang University Science,2004(3). |
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| Authors: | LI Xiao-ming YANG Can-jun CHEN Ying HU Xu-dong |
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| Institution: | LI Xiao-ming 1,YANG Can-jun 1,CHEN Ying 1,HU Xu-dong 2 |
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| 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. |
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| Keywords: | Tele-robot Event based control System integration |
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