CLC number: TP202
On-line Access:
Received: 2003-04-16
Revision Accepted: 2003-09-11
Crosschecked: 0000-00-00
Cited: 11
Clicked: 5343
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.
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