Journal "Software Engineering"
a journal on theoretical and applied science and technology
ISSN 2220-3397

Issue N12 2013 year

Software for the Working Out the Interactive Algorithms of the Remote Robot Control from the ISS
V. S. Zaborovsky , e-mail: vlad@neva.ru, M. Yu. Gook , A. S. Ilyashenko , V. A. Muliukha , A. V. Silinenko , K. S. Seleznev

The paper focuses on software development for interactive remote control of dynamic object with the force-torque sensitization. There are proposed new models and control algorithms, which let to expand the usage of network technology for applications depended critically on the delays in the communication channels. Software environment that provides opportunities for the debugging of manipulating objects algorithms in real time has been created. The paper analyzes the algorithm for the dynamic adjustment of the model parameters that are used to form the force-torque effect of the joystick lever to the operator's hand. The architecture of the software used for the sensitizing the network channel delays.

Keywords: interactive two-circuit remote control, force-torque sensitization, dynamic adaptation
pp. 20–26