This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.
Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, June 2002; final revision, January 2003. Associate Editor: N. Olgac.
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Munir, S., and Book, W. J. (June 4, 2003). "Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation ." ASME. J. Dyn. Sys., Meas., Control. June 2003; 125(2): 205–214. https://doi.org/10.1115/1.1568120
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