Internet-based teleoperation: A case study - toward delay approximation and speed limit module

Internet-based Teleoperation: a Case Study

This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application....

The remote control of mobile robot on the Internet

During last decades, the Internet teleobotics has been growing at an enormous rate due to the rapid improvement of Internet technology. This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct continuous control based teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (...

Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach

There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...

Internet enhanced teleoperation: Toward a remote supervised delay regulator

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...