Hybrid event based control architecture for tele-robotic systems controlled through Internet.

Area of Science:

• Robotics
• Control Systems Engineering
• Internet-based Systems

Background:

• Traditional event-based control requires strict synchronization, limiting integration with time-referenced components.
• Developing Internet-based control systems for tele-robotic applications presents synchronization challenges.

Purpose of the Study:

• To propose a new hybrid event-based control architecture for Internet-controlled tele-robotic systems.
• To address the challenge of coordinating time and event-referenced components for system stability.

Main Methods:

• Developed a hybrid control architecture integrating both event-synchronized and time-referenced control components.
• Investigated methods for coordinating disparate reference variables (time and event) to ensure system stability.
• Conducted an experiment controlling a PUMA robot's end effector via the Internet.

Main Results:

• The proposed hybrid architecture successfully integrates time-referenced control components.
• Experimental results demonstrated the stability of the tele-robotic system during real-time Internet control.
• The system enabled a remote operator to guide a PUMA robot's end effector along a continuous trajectory.

Conclusions:

• The novel hybrid event-based control architecture is effective for stable, real-time Internet-controlled tele-robotic systems.
• This framework offers greater flexibility in developing Internet-based control systems by accommodating mixed synchronization requirements.
• The study validates the feasibility and stability of coordinating diverse control references in distributed robotic systems.