Real-time Mobile Telerobot over IP Networks Based on Predictive Control
WANG Shi-hua1, XU Bu-gong1, LIU Yun-hui2, ZHOU Ye-ming3
1. College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China; 2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hongkong, China; 3.Naval Arms Command Academy, Guangzhou 510430, China
王世华, 胥布工, 刘云辉, 周业明. 预估控制下的实时网络遥操作移动机器人[J]. 机器人, 2007, 29(4): 305-312..
WANG Shi-hua, XU Bu-gong, LIU Yun-hui, ZHOU Ye-ming. Real-time Mobile Telerobot over IP Networks Based on Predictive Control. ROBOT, 2007, 29(4): 305-312..
Abstract:This paper presents a system that enables the remote operator to control a mobile robot with real-time control style via Internet.To compensate network delay and cancel its impact on teleoperation system,we adopt a predictive control scheme based on a modified Smith predictor we proposed previously.To guarantee system stability and transparency,a dynamic model manager is designed based on sensor information exchange between the master and slave sides,where model and force feedback errors are regulated with a fuzzy controller.In addition to force feedback,a virtual predictive display is introduced to enhance the real-time efficiency of teleoperation.To predict time delay precisely,a novel timer synchronization algorithm is proposed.To decrease delay jittering,a data buffer scheme is achieved with the two proposed algorithms.The usefulness and effectiveness of the developed method and system are validated by teleoperation experiments through Internet at a long distance.
[1] Goldberg K,Mascha M,Gentner S,et al.Desktop teleoperation via the World Wide Web[A].Proceedings of the IEEE International Conference on Robotics & Automation[C].Piscataway,NJ,USA:IEEE,1995.654-659.
[2] Paulos E,Canny J.Delivering real reality to the World Wide Web via telerobotics[A].Proceedings of the IEEE International Conference on Robotics & Automation[C].Piscataway,NJ,USA:IEEE,1996.1694-1699.
[3] Raruch J E F,Cox M J.Remote control and robots:An Internet solution[J].Computing & Control Engineering Journal,1996,7(1):39-44.
[4] Brady K,Tarn T J.Internet-based remote teleoperation[A].Proceedings of the IEEE International Conference on Robotics & Automation[C].Piscataway,NJ,USA:IEEE,1998.65-70.
[5] Simmons R,Fernandez J L,et al.Lessons learned from Xavier[J].IEEE Robotics & Automation Magazine,2000,7(2):33 -39.
[6] Stein M R.Interactive Internet artistry[J].IEEE Robotics & Automation Magazine,2000,7 (2):28-32.
[7] Churms C L,Prozesky V M,Springhorn K A.The remote control of nuclear microprobes over the Internet[J].Nuclear Instruments and Methods in Physics Research Section B:Beam Interactions with Materials and Atoms,1999,158(1-4):124-128.
[8] Saucy P,Mondada F.KhepOnTheWeb:Open access to a mobile robot on the Internet[J].IEEE Robotics & Automation Magazine,2000,7(1):41 -47.
[9] Taylor K,Dalton B.Internet robots:A new robotics niche[J].IEEE Robotics & Automation Magazine,2000,7 (1):27-34.
[10] Anderson R J,Spong M W.Bilateral control of teleoperators with time delay[J].IEEE Transactions on Automatic Control,1989,34(5):494 -501.
[11] Lawrence D A.Stability and transparency in bilateral teleoperation[J].IEEE Transactions on Robotics and Automation,1993,9(5):624 -637.
[12] Elhajj I,Xi N,Fung W K,et al.Haptic information in Internetbased teleoperation[J].IEEE/ASME Transactions on Mechatronics,2001,6(3):295 -304.
[13] Elhajj I,Xi N,Song B H,et al.Transparency and synchronization in supermedia enhanced Internet-based teleoperation[A].Proceedings of the IEEE International Conference on Robotics & Automation[C].Piscataway,NJ,USA:IEEE,2002.2713 -2718.
[14] Liu P X,Meng M Q H,Liu P R,et al.An end-to-end transmission architecture for the remote control of robots over IP networks[J].IEEE/ASME Transactions on Mechatronics,2005,10 (5):560-570.
[15] Oboe R.Force-reflecting teleoperation over the Internet:The JBIT project[J].Proceedings of the IEEE,2003,91 (3):449-462.
[16] Andreu D,Fraisse P,Segovia De Los Rios J A,et al.Teleoperation over an IP Network:From control to architectural considerations[A].Proceedings of the International Conference on Control,Automation,Robotics and Vision[C].Piscataway,NJ,USA:IEEE,2004.765-770.
[17] Uchimura Y,Yakoh T.Bilateral robot system on the real-time network structure[J].IEEE Transactions on Industrial Electronics,2004,51 (5):940-946.
[18] Tsuji T,Kato A,Ohnishi K,et al.Safety control of teleoperation system under time varying communication delay[A].Proceedings of the 8th IEEE International Workshop on Advanced Motion Control[C].Piscataway,NJ,USA:IEEE,2004.463-468.
[19] Fong T,Thorpe C,Baur C.Robot,asker of questions[J].Robotics and Autonomous Systems,2003,42 (3-4):235-243.
[20] Wang M,Liu J N K.Interactive control for Internet-based mobile robot teleoperation[J].Robotics and Autonomous Systems,2005,52(2 -3):160 -179.
[21] Sim K B,Byun K S,Harashima F.Internet-based teleoperation of an intelligent robot with optimal two-layer fuzzy controller[J].IEEE Transactions on Industrial Electronics,2006,53 (4):1362-1372.
[22] Smith O J.A controller to overcome dead time[J].1SA Journal,1959,6(2):28 -33.
[23] Sheridan T B.Space teleoperation through time delay:Review and prognosis[J].IEEE Transactions on Robotics and Automation,1993,9(5):592 -606.
[24] Wang S H,Xu B G,Wang Q Y.Delays analysis for teleoperation over Internet and Smith predictor with adaptive time-delay control[A].Proceedings of the IEEE International Conference on Robotics and Biomimetics[C].Piscataway,NJ,USA:IEEE,2005.664-669.
[25] Casavola A,Mosca E,Papini M.Predictive teleoperation of constrained dynamic systems via Internet-like channels[J].IEEE Transactions on Control Systems Technology,2006,14(4):681 -694.
[26] Ramos J J G,Maeta S M,Mirisola L G B,et al.Internet-based solutions in the development and operation of an unmanned robotic airship[J].Proceedings of the IEEE,2003,91 (3):463 -474.
[27] Bruemmer D J,Few D A,Walton M C,et al."Turn off the television !":Real-world robotic exploration experiments with a virtual 3D display[A].Proceedings of the 38th Annual Hawaii International Conference on System Sciences[C].Piscataway,NJ,USA:IEEE,2005.1 -8.
[28] Itoh T,Yudate K,Ito S,et al.New predictive display method of motion and force information for network teleoperation without using virtual environment model[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems[C].Piscataway,NJ,USA:IEEE,2003.2815 -2822.
[29] Kheddar A.Teleoperation based on the hidden robot concept[J].IEEE Transactions on Systems,Man,and Cybernetics,2001,31(1):1-13.
[30] Wang S H,Xu B G,Wang Q Y,et al.Modified Smith predictor and controller for time-delay process with uncertainty[A].Proceedings of the 6th World Conference on Intelligent Control and Automation[C].Piscataway,NJ,USA:IEEE,2006.623-627.