Abstract
An implementation concept of encrypted motion control of a teleoperation system using ElGamal encryption is presented. Motion control architecture for systems with multiple encryption keys and multiple end-devices is proposed. To improve security of control structure, gains and signals, a security-enhanced control framework by deception is introduced for a teleoperated robot system. Simulation results verify that the proposed framework is implementable without compromising system performance.
Volume Subject Area:
Dynamics and Control of Human-Robot Systems
Topics:
Control equipment,
Motion control,
Security,
Encryption,
Robots,
Signals,
Simulation results
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