Cooperative control of multi-robot system with force reflecting via internet

Lo Wang Tai.Thesis (M.Phil.)--Chinese University of Hong Kong, 2002.Includes bibliographical references (leaves 58-63).Abstracts in English and Chinese.Abstract --- p.iAcknowledgement --- p.iiiTables of Content --- p.ivList of Figures --- p.viiList of Tables --- p.viiiChapter Chapter1 --- Introduction --- p.1Chapter 1.1 --- Internet-based Tele-cooperation --- p.1Chapter 1.1.1 --- Cooperative Control of Multiple Robot --- p.1Chapter 1.1.2 --- Internet-based Teleoperation --- p.3Chapter 1.1.3 --- Time Delay of Internet Communication --- p.4Chapter 1.2 --- Related Work --- p.5Chapter 1.3 --- Motivation and Contribution --- p.6Chapter 1.3.1 --- Motivation --- p.6Chapter 1.3.2 --- Contribution --- p.7Chapter 1.4 --- Outline of the thesis --- p.8Chapter Chapter2 --- The Internet Robotic System --- p.9Chapter 2.1 --- System Architecture --- p.9Chapter 2.2 --- The Hardware --- p.12Chapter 2.2.1 --- Operator System --- p.12Chapter 2.2.2 --- Mobile Robot System --- p.13Chapter 2.2.3 --- Multi-fingered Robot Hand System --- p.17Chapter 2.2.4 --- Visual Tracking System --- p.19Chapter 2.3 --- Software Design --- p.21Chapter 2.3.1 --- Robot Client and Arm Client --- p.22Chapter 2.3.2 --- Robot Server --- p.23Chapter 2.3.3 --- Image Server --- p.25Chapter 2.3.4 --- Arm Server --- p.75Chapter 2.3.5 --- Arm Controller --- p.27Chapter 2.3.6 --- Finger Server --- p.27Chapter 2.3.7 --- Finger Controller --- p.27Chapter 2.3.8 --- Robot Tracker --- p.28Chapter 2.3.9 --- Interaction Forwarder --- p.28Chapter Chapter3 --- Event-based Control for Force Reflecting Teleoperation --- p.29Chapter 3.1 --- Modeling and Control --- p.29Chapter 3.1.1 --- Model of Operator System --- p.31Chapter 3.1.2 --- Model of Mobile Robot System --- p.33Chapter 3.1.3 --- Model of Multi-fingered Hand System --- p.34Chapter 3.2 --- Force Feedback Generation --- p.35Chapter 3.2.1 --- Obstacle Avoidance --- p.35Chapter 3.2.2 --- Singularity Avoidance --- p.38Chapter 3.2.3 --- Interaction Rendering --- p.40Chapter Chapter4 --- Experiments --- p.42Chapter 4.1 --- Experiment1 --- p.42Chapter 4.2 --- Experiment2 --- p.47Chapter 4.3 --- Experiment3 --- p.52Chapter Chapter5 --- Future Wok --- p.54Chapter Chapter6 --- Conclusions --- p.56Bibliography --- p.5