Action synchronization and control of Internet based telerobotic systems

摘要

This paper explores a new method for action synchronization and control of telerobotic systems. The significance of the method is that it can effectively deal with the random time-delay existing in the communication channel, such as the Internet. In addition, the result is independent of human operator. First, a novel non-time referenced action control scheme is introduced. Instead of using time as an action reference, a new sensor-based action reference is developed. As a result, the communication delay will have little impact on the operations, in particular the stability of the system. Furthermore, the stability of the system is not dependent on the model of the human operator in the system. All these will lead to the development of the theoretical foundation on the stable control of robotic systems involving human operators. In this paper, the stability condition of robotic system involving both random communication time delay and unknown dynamics of the operator has been developed. It provides the output stability as well as the state stability.