Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
Christensen, Henrik I.
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A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed. It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused by varying delays. The operator interface uses a stereo virtual reality display of the robot cell, and a haptic device for force feed-back including virtual obstacle avoidance forces.