Passive Bilateral Teleoperation via the Internet

This paper presents a passive control scheme for a force reflecting bilateral teleoperation system via the Internet. To improve the stability and performance of the system, the master and slave must be coupled dynamically via the network and Internet technology provides a convenient way to develop an integrated teleoperation system. Time delay caused by various factors, such as the transmission distance, network congestion, and communication bandwidth, is a long-standing impediment to bilateral control that can destabilize the system. In this study, we investigated how a varying time delay affects the stability of a teleoperation system. A new approach based on a passive control scheme was designed in the system. For the Internet based teleoperation, it is important to choose an appreciate communication protocol. After carefully comparing two available protocols, TCP and UDP, in this paper, a UDP based strategy is implemented in our designed system. The simulation result and Implement tracking performance is presented in the paper