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Bilateral Teleoperation Of Mobile Robot Over Delayed Communication Network: Implementation, Chaouki T. Abdallah, Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, I. Lopez
Bilateral Teleoperation Of Mobile Robot Over Delayed Communication Network: Implementation, Chaouki T. Abdallah, Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, I. Lopez
Electrical & Computer Engineering Faculty Publications
In a previous paper we proposed a bilateral teleoperation framework of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results. Our goal is to illustrate and validate the properties of the proposed scheme as well as to present practical implementation issues and the adopted solutions. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay and to handle packet order.
Practical Issues In Networked Control Systems, Chaouki T. Abdallah, Ivan Lopez, J. L. Piovesan, D. Lee, O. Martinez, M. Spong, R. Sandoval
Practical Issues In Networked Control Systems, Chaouki T. Abdallah, Ivan Lopez, J. L. Piovesan, D. Lee, O. Martinez, M. Spong, R. Sandoval
Electrical & Computer Engineering Faculty Publications
In this paper we expose experimental issues faced in a closed-loop networked control system. We also propose some compensation actions, and evaluate their performance for different experimental setups, focusing specifically on time delays.