This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to…mehr
This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.
Zhijun Li is an Associate Professor with the Department of Automation, Shanghai Jiaotong University. He received the Dr Eng Degree in mechatronics, Shanghai Jiao Tong University, PR China, in 2002. From 2003- 2005, he was a postdoctoral fellow in the Department of Mechanical Engineering and Intelligent systems of The University of Electro-Communications, Tokyo, Japan. From 2005-06, he was a research fellow in the Department of Electrical and Computer Engineering, National University of Singapore, and Nanyang Technological University, Singapore. Currently, he is an associate professor in the Department of Automation, Shanghai Jiao Tong University, PR China. Dr. Li is a senior member of the IEEE and his current research interests are adaptive/robust control, mobile manipulators, nonholonomic systems, etc.
Inhaltsangabe
Introduction.- Mathematical Preliminaries.- Modeling of Teleoperation System.- Model Based Bilateral Teleoperation Control.- Model Reference Bilateral Teleoperation Control.- Single-master-multi-slaves Teleoperation.- Trilateral Teleoperation.- Multilateral Cooperative Teleoperation.
