Control scheme for delayed teleoperation tasks

Transmission delays can severely degrade system performance or even destroy the sense of operator telepresence due to instabilities. A workcell is to be controlled during remote manipulation without substantial system degradation. Thus, teleprogramming; a delay-tolerant control strategy for most telerobotic applications is outlined. A design of a double-loop feedback controller with a prediction scheme is also summarized for visual tracking of moving objects during remote manipulation. Its performance is evaluated using computer simulations in the frequency domain by minimizing a squared-error cost function of the motion parameters. The results presented imply a fast and robust controller