Teleoperation using computer networks: prototype realization and performance analysis

This article describes a teleoperation testbed using packed switched computer networks as a communication resource. Computer networks were selected as they are both widespread and flexible, however they are not as straightforward as traditional teleoperation, because they are not designed for real time communication. The influence of communication parameters, such as delays and data losses, on teleoperation performance is studied in detail. Experiments were carried out both on real networks and in simulation, but with man in the loop operation. A new coding technique for kinaesthetic data, based on adaptive filtering, is proposed. The experiment conducted show that computer networks can be suitable for the remote control of manipulators