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양방향 원격제어시스템에서 발생하는 패킷 손실이 시스템의 안정성에 미치는 영향
홍아영(Ayoung Hong),조장호(Jang Ho Cho),이두용(Doo Yong Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper is focused on packet loss effects in bilateral teleoperation systems. In teleoperation systems, communication channel between master and slave causes packet loss and time delay; these affect performance and stability of teleoperation systems. To simulate packet loss effects, packet loss and teleoperation system including packet loss are modeled. In this paper, two types of packet loss process are considered. One is the uniform distributed packet loss process and the other is the biased packet loss process. Finally with two types of packet loss process, packet loss effects on performance and stability of bilateral teleoperation systems are discussed based on the simulation results.