期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：2
页码：57
DOI：10.5772/50649
语种：English
出版社：SAGE Publications
摘要：Telerobot system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of telerobot systems, varying time delay causes the overall system unstable and reduces the performance of transparency. In this paper, we propose twelve operation modes with different control schemes for telerobot on the Internet with time delay. And an optimal operation mode with control scheme is specified for telerobot with time delay, based on the tradeoff between passivity and transparency properties. We experimentally confirm the validity of the proposed optimal mode and control scheme by using a simple one DOF master–slave manipulator system.
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