Geodesic
Algorithms for internet-based control of a robot manipulator
Matematičeskoe modelirovanie, Tome 14 (2002) no. 8, pp. 10-15

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The paper describes methods for effective robot teleoperation via the Internet. The methods provide effective robot interaction with both fixed and moving objects. They are based on the use of kinematic and dynamic models of the robot and objects, and the use of a virtual control environment which contains an on-line dynamic virtual representation of the remote robot and its working area. The particulars of the methods and the experiments undertaken are presented. The paper also describes algorithms of Internet-based control of the robot manipulator capturing an object with complicated dynamical behaviour. 
@article{MM_2002_14_8_a2,
     author = {I. R. Belousov},
     title = {Algorithms for internet-based control of a robot manipulator},
     journal = {Matemati\v{c}eskoe modelirovanie},
     pages = {10--15},
     publisher = {mathdoc},
     volume = {14},
     number = {8},
     year = {2002},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MM_2002_14_8_a2/}
}
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I. R. Belousov. Algorithms for internet-based control of a robot manipulator. Matematičeskoe modelirovanie, Tome 14 (2002) no. 8, pp. 10-15. http://geodesic.mathdoc.fr/item/MM_2002_14_8_a2/