A Distributed Architecture for Teleoperation over the Internet with Application to the Remote Control of an Inverted Pendulum

This paper discusses challenges in enabling teleoperation over the Internet for the specific case of real systems which exhibit fast dynamics. A distributed client-server architecture is proposed to provide the necessary level of interactivity for supervision and tuning, without compromising the essential control tasks. Enabling features include real-time simulation and augmented-reality visualization to enhance the user perception of the distant ongoing operations. The proposed approach is illustrated through the remote control of an inverted pendulum.


Published in:
Lecture Notes in Control and Information Sciences: Nonlinear Control in the year 2000, 258, 399-407
Year:
2000
Keywords:
Laboratories:




 Record created 2006-05-09, last modified 2018-03-17


Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)