Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation
Book, Wayne John
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This 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.