Time delay analysis in teleoperation system

We classify the data class according to their characteristics and endow with corresponding priority. To reduce time delay in teleoperation system, a dynamic scheduling policy is adopted. The dynamic scheduling policy processes high priority classes first, and then services low priority classes. The classes having low priority can be served in later sampling interval. It is important to maintain sampling interval to be consistent for stable operation of robot controller. In this paper, we analyze data traffic in teleoperation system and suggest the algorithm to control it. Through real experiment, we show the validity of this policy