Implementation of internet based telemicromanipulation with delay compensation

Author

Preeda, Chantanakajornfung ; Hwang, Gil Gueng ; Hashimoto, Hideki

Author_Institution

Inst. of Ind. Sci., Univ. of Tokyo, Tokyo

fYear

2008

fDate

26-28 March 2008

Firstpage

312

Lastpage

317

Abstract

In this paper, our Internet based bilateral telemicromanipulation system with time-varying delay compensation was implemented. Wave variable transformation is applied into the system for maintaining the system´s stability against the presence of time delay during the teleoperation as well as the effect of change in wave impedance parameter is analyzed through the experimental results. PHANTOM haptic device is used to let an operator interact with remote system and improve telepresense. Purposed system´s performance is evaluated through the experimental results and some methods to improve the system´s performance are proposed based on the experimental results.

Keywords

Internet; control engineering computing; delay systems; manipulators; stability; telerobotics; time-varying systems; Internet; PHANTOM haptic device; bilateral telemicromanipulation system; delay compensation; teleoperation; wave variable transformation; Control systems; Data communication; Delay effects; Gas insulated transmission lines; Haptic interfaces; Impedance; Internet; Robust control; Robust stability; System performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on

Conference_Location

Trento

Print_ISBN

978-1-4244-1702-5

Electronic_ISBN

978-1-4244-1703-2

Type

conf

DOI

10.1109/AMC.2008.4516085

Filename

4516085