Transmission modeling and simulation for Internet-based control

In this paper, when we design an Internet-based control system, one of the important points, data transmission characteristic, that should be considered are inspected and simulated. First, we investigate the data transmission characteristic at the Internet and build a model for the transmission delay and packet loss through the characteristics of that effect. Then, using the parameters from the established model, we apply it to the force-reflective teleoperation control system that consists of haptic interface with six degrees of freedom and robot manipulator with five degrees of freedom via the Internet. The experiments results show that the proposed transmission model is desirable for adopting a simulation environment for the improvement of an Internet-based control system