Journal Home Online First Current Issue Archive For Authors Journal Information 中文版

Strategic Study of CAE >> 2008, Volume 10, Issue 10

Continuous path control of robot arm in network-based remote control

Department of Automation, University of Science and Technology of China, Hefei 230027, China

Funding project:国家自然科学基金资助项目(60774098) Received: 2007-01-26 Revised: 2007-03-07 Available online: 2008-10-13 12:44:10.000

Next Previous

Abstract

By discussing the drawbacks of a 2-dof robot arm remote control based on the point-to-point control, the continuous path control method is applied to the joint-coordinate-space-based serial robot remote control system. The condition needed to realize the continuous control is analyzed and the computation formula of the optimal synthesized velocity is given. The actual remote control experiment is implemented, and the continuous and smooth movement results are obtained within the desired time. It's verified that better accuracy in remote system can be obtained by means of continuous path control.

Figures

图1

图2

图3

图4

图5

References

[ 1 ] Launay J P.Teleoperation and nuclear services advantages of com- puterized operator assistance tools [ J] .Nuclear Engineering and Design, 1998 , 180 ( 1 ) : 47 -52 link1

[ 2 ] Chen J Y, Kuan J T, Wen F L, et al.A remote control system for home appliances using the Internet and radio connection [ A ] . IEEE International Symposium on Computer Aided Control Systems Design[ C] .2004 :249 -254 link1

[ 3 ] Liu P X, Farias W, Gibson S, et al.Remote control of a robotic boat via the Internet [ A] .IEEE International Conference on In- formation Acquisition [ C] .2005 :548 -553 link1

[ 4 ] Luo R C, Su K L, Shen S H, et al.Networked intelligent robots through the Internet: issues and opportunities [ A] .Proceedings of the IEEE [ C] .2003 , 91 ( 3 ) : 371 -382 link1

[ 5 ] Tipsuwan Y, Chow M Y.Control methodologies in networked con- trol systems [ J] .Control Engineering Practice, 2003 , 11 ( 10 ) : 1099 -1111 link1

[ 6 ] Nilsson J, Bernhardsson B, Wittenmark B.Stochastic analysis and control of real -time systems with random time delays [ J] .Auto- matica, 1998 , 34 ( 1 ) : 57 -64 link1

[ 7 ] Walsh G C, Ye H, Bushnell L G.Stability analysis of networked control systems [ J] .IEEE Transactions on Control Systems Tech- nology, 2002 , 10 ( 3 ) : 438 -446 link1

[ 8 ] 郑桦,丛爽,魏子翔.基于网络的机械臂远程控制系统中延时补偿的研究与实现[J].中国科学院研究生院学报,2007,24(4):530-536 link1

Related Research