Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability
One of the problems of the anthropomorphic manipulator teleoperation is the presence of data transfer delay. If the connection between the master device and the slave device (manipulator) is organized by means of networks with a complex structure and a large number of devices (for example, the Inter...
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ir-20.500.12258-121212020-10-12T12:13:52Z Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Kabinyakov, M. Y. Кабиняков, М. Ю. Svistunov, N. Y. Свистунов, Н. Ю. Gurchinsky, M. M. Гурчинский, М. М. Algorithm Anthropomorphic manipulator Data transmission Delay Interpolation Master-slave teleoperation Normal distribution One of the problems of the anthropomorphic manipulator teleoperation is the presence of data transfer delay. If the connection between the master device and the slave device (manipulator) is organized by means of networks with a complex structure and a large number of devices (for example, the Internet), the data transmission delay is a hardly predictable value that changes over time. In such conditions, the speed and accuracy of operations are reduced, and parasitic vibrations may also appear due to the uneven flow of commands. The paper proposes the control signal recovery algorithm which aims to recreate the trajectory of the manipulator movement using the input command flow. The algorithm allows to reduce the negative impact of such factors as instability of data transmission delay, change of the commands order, and packet loss. The estimation of the accuracy of the control signal recovery in various conditions and with different operation modes of the teleoperation system was made. The simulation results confirm the possibility of using the algorithm both to achieve high accuracy and to reduce the control delay depending on the parameters of the algorithm 2020-06-25T14:33:03Z 2020-06-25T14:33:03Z 2019 Статья Petrenko, V., Tebueva, F., Kabinyakov, M., Svistunov, N., Gurchinskiy, M. Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability // Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2019. - Volume October-2019. - Номер статьи 9073259. - Pages 896-901 http://hdl.handle.net/20.500.12258/12121 en Proceedings - International Conference on Developments in eSystems Engineering, DeSE application/pdf application/pdf Institute of Electrical and Electronics Engineers Inc. |
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| language |
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| topic |
Algorithm Anthropomorphic manipulator Data transmission Delay Interpolation Master-slave teleoperation Normal distribution |
| spellingShingle |
Algorithm Anthropomorphic manipulator Data transmission Delay Interpolation Master-slave teleoperation Normal distribution Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Kabinyakov, M. Y. Кабиняков, М. Ю. Svistunov, N. Y. Свистунов, Н. Ю. Gurchinsky, M. M. Гурчинский, М. М. Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| description |
One of the problems of the anthropomorphic manipulator teleoperation is the presence of data transfer delay. If the connection between the master device and the slave device (manipulator) is organized by means of networks with a complex structure and a large number of devices (for example, the Internet), the data transmission delay is a hardly predictable value that changes over time. In such conditions, the speed and accuracy of operations are reduced, and parasitic vibrations may also appear due to the uneven flow of commands. The paper proposes the control signal recovery algorithm which aims to recreate the trajectory of the manipulator movement using the input command flow. The algorithm allows to reduce the negative impact of such factors as instability of data transmission delay, change of the commands order, and packet loss. The estimation of the accuracy of the control signal recovery in various conditions and with different operation modes of the teleoperation system was made. The simulation results confirm the possibility of using the algorithm both to achieve high accuracy and to reduce the control delay depending on the parameters of the algorithm |
| format |
Статья |
| author |
Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Kabinyakov, M. Y. Кабиняков, М. Ю. Svistunov, N. Y. Свистунов, Н. Ю. Gurchinsky, M. M. Гурчинский, М. М. |
| author_facet |
Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Kabinyakov, M. Y. Кабиняков, М. Ю. Svistunov, N. Y. Свистунов, Н. Ю. Gurchinsky, M. M. Гурчинский, М. М. |
| author_sort |
Petrenko, V. I. |
| title |
Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| title_short |
Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| title_full |
Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| title_fullStr |
Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| title_full_unstemmed |
Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| title_sort |
control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability |
| publisher |
Institute of Electrical and Electronics Engineers Inc. |
| publishDate |
2020 |
| url |
https://dspace.ncfu.ru/handle/20.500.12258/12121 |
| work_keys_str_mv |
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