Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation

[+] Author and Article Information
Saghir Munir, Wayne J. Book

George W. Woodruff School of Mechanical Engineering, Georgia Institute Of Technology, Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 125(2), 205-214 (Jun 04, 2003) (10 pages) doi:10.1115/1.1568120 History: Received June 01, 2002; Revised January 01, 2003; Online June 04, 2003
Copyright © 2003 by ASME
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Multi-degree of freedom bilateral teleoperator
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Wave-based communication, by transforming velocity-force variables to wave variables before transmission and then back to velocity-force variable after transmission; Note: The gray boxes indicate wave transformations.
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Possible arrangement of a predictor incorporated inside the wave junction
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Overall prediction scheme
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Linear system with delays in the input and output
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Experimental setup scheme
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Master robot and the control software
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Closed loop delay between master and slave (data reflected from Tokyo, Japan)
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Regular teleperation teleoperation (data reflected from Tokyo, Japan)
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Wave-based teleoperation (with data reflected from Toyko, Japan)
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Wave-based teleoperation with prediction (data reflected from Tokyo, Japan)
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Observer based teleoperation (data reflected from Tokyo, Japan)




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