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2008, Volume 3, Issue 3

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Frontiers of Mechanical Engineering >> 2008, Volume 3, Issue 3 doi: 10.1007/s11465-008-0049-7

Real-time mobile robot teleoperation via Internet based on predictive control

1.Laboratory of Real-Time Control Through Internet and Fieldbuses, College of Automation Science and Engineering, South China University of Technology; 2.Naval Arms Command Academy of Guangzhou; 3.Department of Automation and Computer Aided Engineering, The Chinese University of Hong Kong

Available online: 2008-09-05
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Abstract

A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.

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