Telemanipulation over wide-area internet communication networks With time varying delay

This paper presents delay dependent teleoperation strategy over wide-area communication network under symmetric and asymmetric time varying transmission delay. The local and remote device is coupled by delayed position and adaptive impedance reflection of the remote slave-environment´s interaction force. Local nonlinear adaptive terms for both master-slaves are deployed to estimate uncertain parameter of the gravity loading vector. An adaptive impedance force-reflection algorithm is designed for slave device to estimate the remote impedance characteristics of the interaction force between slave and remote task environment. The on-line estimated remote slave-environment´s characteristics are then transmitted back to the master device via using communication channels in order to reproduce remote slave-environment´s interaction force at the human operator hand. Lyapunov-Krasovskii-like functional is employed to derive stability condition for the coupled master-slave teleoperators. Finally, simulation is conducted to demonstrate the validity of the proposed design for real-time applications.