Time-delay Analysis and Estimation of Internet-based Robot Teleoperation System

摘要：

Time-delay is unavoidable and randomly time-varying for teleoperation robot system based on Internet, and also most difficult obstacle between local operators and remote robots. In the paper, we first analyze RTT (roundtrip time or delay) time sequences collected by large numbers of test, and find that RTT time sequences between any two network nodes are irrelevant, so it is irresponsible to estimate the value of network time-delay by modeling methods. But it is also shown that time-delay at any period of time accords with parallel shift Gamma distributing (PSGD) instead of Gauss distributing or White Noise distributing, and probability density curves of time-delay can be described by finite kinds of probability density of PSGD. It, mean value estimation of network time-delay, therefore can be obtained by forecasting PSGD of time-delay. Then moment estimation method can be used to estimate mean value of network time-delay by estimating parameters of PSGD.

关键词： delay measure delay analysis delay estimation Gamma moment estimation method teleoperation

作者: Zhao Juanping Gao Xianwen

作者单位: College of Information Science and Engineering, Northeastern University, Shenyang 110004, China Acad College of Information Science and Engineering, Northeastern University, Shenyang 110004, China

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 4643-4646

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）