A real-time teleoperation scheme of Internet-based 6-DoF parallel manipulator

A new scheme is presented in this paper for real-time teleoperation of a 6-DoF parallel manipulator over the Internet. The architecture of the scheme consists of a control stream, transmitting commands and feedback, and managers located at the end of the stream. Simulations prove that the real-time-ability is improved and the delay jitter is reduced through operation and control of the control stream managers. The results of system simulation show that it is a desirable method for real-time teleoperating the manipulator via the Internet.