Telerobotics over ip networks: Towards a low-level real-time architectureReport as inadecuate




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1 Ampère 2 LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier 3 DEMAR - Artificial movement and gait restoration LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée

Abstract : Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. The paper presents our latest works on the improvement of teleoperation loops, by providing a low-level architecture which permits the use of classical teleoperation controls over asynchronous digital links

Keywords : asynchronous transmission long distance teleoperation transmission delays Internet delays LAN IP networks asynchronous digital links telerobotics transport protocols real-time systems manipulators queueing theory mobile robots





Author: Arnaud Lelevé - Philippe Fraisse - Pierre Dauchez -

Source: https://hal.archives-ouvertes.fr/



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