Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation | Zendy

Saghir Munir | Zendy; Wayne J. Book | Zendy

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Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation

Author(s) -

Saghir Munir,

Wayne J. Book

Publication year - 2003

Publication title -

journal of dynamic systems measurement and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.528

H-Index - 89

eISSN - 1528-9028

pISSN - 0022-0434

DOI - 10.1115/1.1568120

Subject(s) - teleoperation , the internet , computer science , haptic technology , observer (physics) , telerobotics , control (management) , simulation , robot , artificial intelligence , operating system , physics , mobile robot , quantum mechanics

© 2003 ASMEDOI: 10.1115/1.1568120This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications it is required that the control loop be closed around a time delayed network. Although various researchers have worked on this problem, this paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Ethernet between Atlanta and Tokyo are given. The system used was a two degree of freedom haptic interface, bilaterally coupled to simulation (implemented on a windows NT based computer) of a similar system

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