Contribution a la téléoperation de robots en présence de délais de transmission variables

摘要

Recent progress in computer engineering now permits someone to realize teleoperations through computer networks. For instance, Internet has been used for a few years in the frame of long distance teleoperations. It has the definite advantage of being widespread, accessible, reliable and economical. The goal of this work is to set up a long distance teleoperation platform through computer networks having limitations similar to Internet : presence of delays which are variable at low (ms) and high (mn) scale, data loss, delay asymmetry. Therefore, starting from experimentations on our mobile manipulator, we have developped a mathematical model of a basic teleoperation loop. We used this model to build a simulation environment that permits us to deal with different problems concerning long distance teleoperation. Finally, we propose a control diagram that features the miscellaneous improvements we have made and that applies to a manipulator. In order to validate this diagram, we have also built a dedicated software for PC's running Microsoft Windows operating system.