Telerobotics over ip networks: Towards a low-level real-time architecture

Arnaud Lelevé; Philippe Fraisse; Pierre Dauchez

doi:10.1109/IROS.2001.976242

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Telerobotics over ip networks: Towards a low-level real-time architecture

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Telerobotics over ip networks: Towards a low-level real-time architecture

Arnaud Lelevé, Philippe Fraisse et Pierre Dauchez

Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.2, pp.643-648

2001 IEEE IROS (Maui, Hawaii, United States, 01/10/2001)

01/10/2001

DOI: https://doi.org/10.1109/IROS.2001.976242

Résumé

IP networks

long distance teleoperation

telerobotics

asynchronous transmission

transmission delays

asynchronous digital links

delays

LAN

queueing theory

manipulators

real-time systems

transport protocols

Internet

mobile robots

Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. The paper presents our latest works on the improvement of teleoperation loops, by providing a low-level architecture which permits the use of classical teleoperation controls over asynchronous digital links

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Titre: Telerobotics over ip networks: Towards a low-level real-time architecture
Créateurs - sans rôle: Arnaud Lelevé - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Philippe Fraisse - Centre National de la Recherche Scientifique
Pierre Dauchez - Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Détails de publication: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.2, pp.643-648
Colloque: 2001 IEEE IROS (Maui, Hawaii, United States, 01/10/2001)
Identifiants: 99153063909311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: hal-00189072