Research and Implementation about Compensation for Time Delay in Network-Based Robot Arm Remote Control System

ZHENG Hua; CONG Shuang; WEI Zi- Xiang

doi:10.7523/j.issn.2095-6134.2007.4.020

Journal of University of Chinese Academy of Sciences >

2007 , Vol. 24 >Issue 4: 530 - 536

DOI: https://doi.org/10.7523/j.issn.2095-6134.2007.4.020

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Research and Implementation about Compensation for Time Delay in Network-Based Robot Arm Remote Control System

ZHENG Hua ,
CONG Shuang ,
WEI Zi- Xiang

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Department of Automation , University of Science and Technology of China , Hefei 230027 , China

Received date: 1900-01-01

Revised date: 1900-01-01

Online published: 2007-07-15

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Abstract

For a network-based 2-DOF robot arm remote control system, an off-line and an on-line time delay compensation schemes are proposed respectively after analyzing the delay factors which affect the system performance, in order to make up for the delay of task-finished time from the remote control by contrast with the local control. The rationality and validity of these two schemes were further verified by their experimental implementation in a practical network-based remote control system for 2-DOF robot arm.

Key words： remote control; time delay compensation; robot arm system

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ZHENG Hua , CONG Shuang , WEI Zi- Xiang . Research and Implementation about Compensation for Time Delay in Network-Based Robot Arm Remote Control System[J]. Journal of University of Chinese Academy of Sciences, 2007 , 24(4) : 530 -536 . DOI: 10.7523/j.issn.2095-6134.2007.4.020

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