Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
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Abstract
A teleoperation system for controlling a robot with
fast dynamics over the Internet has been constructed. It employs
a predictive control structure with an accurate dynamic model of
the robot to overcome problems caused by varying delays. The
operator interface uses a stereo virtual reality display of the
robot cell, and a haptic device for force feed-back including
virtual obstacle avoidance forces.
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2006-10
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