NDLI: A Hybrid Control Method for Telerobotic Systems

Content Provider	IEEE Xplore Digital Library
Author	Jianning Hua Yuechao Wang Ning Xi
Copyright Year	2006
Description	Author affiliation: Robotics Lab., Chinese Acad. of Sci., Shenyang (Jianning Hua; Yuechao Wang; Ning Xi)
Abstract	A hybrid control method for telerobotic systems which considers simultaneously the control and decision-making issues is presented in this paper. Telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system modeled customarily by differential equations or difference equations, and the human operator whose function is to generate commands for robot located in the remote side, however, can be modeled by an automaton. As a result, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. From the point of view of control, a hybrid framework is of key importance for the study of such a system. In this paper, the specific problems to be discussed include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to apply this framework in a real teleoperated manipulator system. The main contribution of this paper is the development of a mathematical model which incorporates human intervention into an autonomous control model
Starting Page	510
Ending Page	515
File Size	4015221
Page Count	6
File Format	PDF
ISBN	1424405289
DOI	10.1109/ICIA.2006.305786
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Decision making Humans Hybrid control Control systems Robotics and automation Power system modeling Intelligent robots Hybrid system Difference equations Telerobotic systems Differential equations Mathematical model Telerobotics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

A Lattice Controller for Telerobotic Systems

A model-based concept for telerobotic control of decontamination and dismantlement tasks

Sensor-based autonomous control for telerobotic system

Telerobotic simulator in minimal invasive surgery

Reactive control as a substrate for telerobotic systems

Control structures in sensor-based telerobotic systems

Intelligent planning and control for telerobotic operations

Decision making for remote robotic operations

A Hybrid Control Method for Telerobotic Systems

Similar Documents

Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

A Lattice Controller for Telerobotic Systems

A model-based concept for telerobotic control of decontamination and dismantlement tasks

Sensor-based autonomous control for telerobotic system

Telerobotic simulator in minimal invasive surgery

Reactive control as a substrate for telerobotic systems

Control structures in sensor-based telerobotic systems

Intelligent planning and control for telerobotic operations

Decision making for remote robotic operations

A Hybrid Control Method for Telerobotic Systems