Internet based teleoperation using wave variables with prediction

Abstract

Wave-based teleoperation has been previously attempted over the Internet, however, performance rapidly deteriorates with increasing delay. This paper focuses on the use of a modified Smith predictor, a Kalman filter and an energy regulator to improve the performance of a wave-based teleoperator. This technique is further extended for use over the Internet, where the time delay is varying and unpredictable. It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction). Successful experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta (Georgia) and Tokyo (Japan), are also given.

Long‐distance robotic telesurgery: a feasibility study for care in remote environments

“…Time-based algorithms can predict the next steps of multiple operators and compute and represent a pertinent state to all participants. This has been used extensively in online gaming (2,6,10,17). Although this is not directly applicable to telesurgery, the network architecture underlying such systems may be useful.…”

Control of teleoperation systems operating under communication line failures

“…This problem has been studied by many researchers, but Anderson and Spong were perhaps the first to use the wave variable method to control bilateral controllers [6]. Also, Niemeyer and Slotine [1], and Munir and Book [2] have implemented this method to teleoperation systems. Current studies are on the variable time-delayed teleoperation [2,3].…”

“…Also, Niemeyer and Slotine [1], and Munir and Book [2] have implemented this method to teleoperation systems. Current studies are on the variable time-delayed teleoperation [2,3]. Although the wave variable technique guarantees stability for the constant time delayed teleoperation, the system experiences instability when the time delay varies.…”

“…Telemanipulation of an industrial robot arm is a typical example to this type of teleoperation. Researchers working on the stabilization issue of the timedelayed teleoperation have also chosen to work with limitedworkspace teleoperators [1,2,3]. In limited-workspace teleoperation, generally master position and orientation information is mapped into the Cartesian position and orientation of the end-effector.…”

On autonomous and teleoperated aerial service robots

“…Various teleoperation control architectures have been designed to work with the aforementioned types of robotic systems and in different operating conditions, such as linear and nonlinear controllers [5], passivity based controllers [30], adaptive controllers [41], model predictive controllers [77].…”