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

Abstract : 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.
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Submitted on : Tuesday, March 29, 2011 - 1:33:07 PM
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Arnaud Lelevé. Contribution a la téléoperation de robots en présence de délais de transmission variables. Automatique / Robotique. Université Montpellier II - Sciences et Techniques du Languedoc, 2000. Français. ⟨tel-00580771⟩

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