Volume 35 Issue 5
Sep.  2013
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HUA Jianning, CUI Yujie, JIA Qi, SHI Pu, LI Hongyi. MDL-Based Control Method for Tele-robotic Systems[J]. ROBOT, 2013, 35(5): 615-622. DOI: 10.3724/SP.J.1218.2013.00615
Citation: HUA Jianning, CUI Yujie, JIA Qi, SHI Pu, LI Hongyi. MDL-Based Control Method for Tele-robotic Systems[J]. ROBOT, 2013, 35(5): 615-622. DOI: 10.3724/SP.J.1218.2013.00615
shu

MDL-Based Control Method for Tele-robotic Systems

  • 1.

    Institute of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China

  • 2.

    State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

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  • Received Date: April 13, 2013
  • Revised Date: August 31, 2013
  • Published Date: September 14, 2013
    Graphical Abstract
    • Abstract
  • A control method based on motion description language (MDL) is proposed, to reduce requirement for network bandwidth and to distribute reasonably computational and communication resources in tele-robotic systems. The open-loop and closed-loop parameters in motion primitives are derived based on orthogonal decomposition of robot trajectory, by which the expressiveness of MDL is guaranteed, and four kinds of motion primitives are constructed for the tele-grasping task. A network-based tele-robotic system is constructed, in which the Phantom Omni is used as the master device and the Motoman 6-DOF industrial robot as the slave system. Experiments are conducted to compare the direct control method and the MDL-based control method, and experimental results demonstrate the feasibility and efficiency of the proposed method.
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    • References (35)
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