关键词: 遥操作, 网络机器人, 预估控制, 时延算法

Abstract:

In order to eliminate the impact of variable network delay on teleoperated systems, this paper presents an Internet-based real-time teleoperated mobile robot system by utilizing the predictive control scheme and introducing an improved Smith predictor. Based on the sensor information exchange between the master and the slave, the system guarantees the master and slave models synchronism through a dynamic model manager and its algorithm. Moreover, according to the many arrivals of end-to-end datagram, a new regulating algorithm for delay buffer is pro- posed to transfer a variable delay into the constant one. Virtual model display is also introduced to enhance the realtime efficiency of the system. The usefulness and effectiveness of the developed method and system are finally validated by the teleoperation experiments through long-distance Internet.

Key words: teleoperation, Internet robots, predictive control, delay algorithm