Full Text:   <2823>

CLC number: TP202

On-line Access: 2024-08-27

Received: 2023-10-17

Revision Accepted: 2024-05-08

Crosschecked: 0000-00-00

Cited: 11

Clicked: 5400

Citations:  Bibtex RefMan EndNote GB/T7714

-   Go to

Article info.
Open peer comments

Journal of Zhejiang University SCIENCE A 2004 Vol.5 No.3 P.296-302

http://doi.org/10.1631/jzus.2004.0296


Hybrid event based control architecture for tele-robotic systems controlled through Internet


Author(s):  LI Xiao-ming, YANG Can-jun, CHEN Ying, HU Xu-dong

Affiliation(s):  State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   lxmzju2000@hotmail.com

Key Words:  Tele-robot, Event based control, System integration


Share this article to: More

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 A, 2004, 5(3): 296-302.

@article{title="Hybrid event based control architecture for tele-robotic systems controlled through Internet",
author="LI Xiao-ming, YANG Can-jun, CHEN Ying, HU Xu-dong",
journal="Journal of Zhejiang University Science A",
volume="5",
number="3",
pages="296-302",
year="2004",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2004.0296"
}

%0 Journal Article
%T Hybrid event based control architecture for tele-robotic systems controlled through Internet
%A LI Xiao-ming
%A YANG Can-jun
%A CHEN Ying
%A HU Xu-dong
%J Journal of Zhejiang University SCIENCE A
%V 5
%N 3
%P 296-302
%@ 1869-1951
%D 2004
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2004.0296

TY - JOUR
T1 - Hybrid event based control architecture for tele-robotic systems controlled through Internet
A1 - LI Xiao-ming
A1 - YANG Can-jun
A1 - CHEN Ying
A1 - HU Xu-dong
J0 - Journal of Zhejiang University Science A
VL - 5
IS - 3
SP - 296
EP - 302
%@ 1869-1951
Y1 - 2004
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2004.0296


Abstract: 
A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is proposed 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. Experimental results confirmed the stability of such systems being controlled through the Internet in real-time.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1] Brady, K., Tarn, T.J., 2001. Internet-Based Teleoperation. Proceedings of the 2001. IEEE International Conference on Robotics & Automation, Seoul, Korea, p.644-650.

[2] Cheng, H.H., 1995. Ch Shell for Integration of Mechatronic Systems. Proceedings of the 1995 NSF Design and Manufacturing Grantees Conference, La Jolla, California, p.95-96.

[3] Cheng, H.H., 2002. The Ch Language Environment. Soft Integration, Inc. http://www.softintegration.com.

[4] Elhajj, I., Xi, N., Wai, K.F., Liu, Y.H., Li, W.J., Kaga, T., Fukuda, T., 2001. Super Media in Internet-based Telerobotic.In: Operations, E.S. Al-Shaer and G. Pacific (Eds.), MMNS 2001, LNCS 2216, p.359-372.

[5] Hu, X.D., Yu, H., Chen, Y., 2002. Web-based data acquisition.Journal of Zhejiang University SCIENCE,3(2):135-139.

[6] Kang, W., Xi, N., Tan, J.D., 1999. Analysis and Design of Non-time Based Motion Controller for Mobile Robots. Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Detroit, Michigan, p.2964-2969.

[7] Mirfakhrai, T., Payandeh, S., 2001. A Model for Time-Delays for Teleoperaion Over the Internet. Proceedings of 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Alberta, Canada, p.1-6.

[8] Safaric, R., Jezernik, K., Calkin, D.W., Parkin, R.M., 1999. Telerobot Control via Internet. Proceedings of the IEEE International Symposium on Industrial Electronics, 1999, Bled , Slovenia,p.298-303.

[9] Tarn, T.J., Song, M., Xi, N., 1998. Intelligent Planning and Control for Hybrid System. Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., Canada, p.972-977.

[10] Xi, N., Tarn, T.J., 1999. Action Synchronization and Control of Internet Based Telerobotic Systems. Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Detroit, Michigan, p.219-224.

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE