Multi-objective optimization for telerobotic operations via the Internet

Teleoperation systems extend the ability of human power to manipulate objects in distant locations and have a wide range of applications in many areas. For decades, most researchers focused on the stability and telepresence of the teleoperation systems. Few of them have studied the influence of the teleoperation condition variables on the telerobotic operations, such as the quality of teleoperator, task dexterity and network quality. In fact, these variables may seriously affect the telerobotic operations and system performance even if the system stability and telepresence are both perfectly guaranteed. Thus, this paper investigates the method to online identify these condition variables and then employs them to enhance the telerobotic operations with multiple objectives. The designed method was implemented on a mobile manipulator and the experimental results demonstrated its effectiveness.