Internet-based teleoperation using wave variables with prediction

teleoperation systems control using augmented wave variables and smith predictor methods by prediction of delay time

in this paper, behavior of teleoperation systems with modeling error and delay time error in smith predictor is discussed. in teleoperation systems, modeling error is inevitable. this paper discusses stability of teleoperation systems with modeling error. first, error of delay time in teleoperation systems by using of internet as communication channel is considered and the performance of smith ...

Internet-based Bilateral Teleoperation

Issues on Internet-based Teleoperation

This paper describes experiments of Internet modeling and of Internet-based teleoperation aimed at developing control laws to overcome the variable time-delay and data losses typical of Internet communication. From a control perspective, Internet is shown to be characterized by mean and jitter of the data packets delay, and by packet losses. Furthermore, these parameters depend on the number of...

Real-Time Internet-Based Teleoperation

Internet-based teleoperation employs robots and internet a two breakthrough technologies to manipulate robots from distance for different applications. Variable and unknown time delay dynamics of internet is the main obstacle for realtime teleoperation via internet. In this paper the internet delay dynamics and its characteristics have been studied based on the measurement in different nodes. T...

Bilateral Haptic Guided Robot Teleoperation Via Packet Switched Networks Using Wave Variables with Impedance Adaptation

This paper presents the use of haptic devices in teleoperation systems with motion restrictions during robot teleoperation in order to provide the operator with increased awareness and better feeling of immersion, hence, improving his ability to perform complex tasks. The use of wave variables in the proposed system renders passive the communication channel, and moreover the new packet switched...