Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-13T12:25:51.768Z Has data issue: false hasContentIssue false
  • English
  • Français

On using delay predictors in controlling force-reflecting teleoperation over the internet

Published online by Cambridge University Press:  10 November 2005

Tissaphern Mirfakhrai  and
Shahram Payandeh
Tissaphern Mirfakhrai
Affiliation:
Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia (CANADA) V5A 1S6, E-mail: [email protected]
Shahram Payandeh
Affiliation:
Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia (CANADA) V5A 1S6, E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

Using the notation of the wave variables, this paper introduces an autoregressive predictor, which forecasts the future values of the delay based on its previous values. Using this new knowledge, the teleoperation control system can be tuned to achieve a better and more practical performance. The validity of this modeling is first verified by actual experiments and then the results are used in simulated teleoperations.

Keywords

TeleoperationInternet time delayEstimationForce reflection
Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005 , pp. 809 - 813
Copyright
© 2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)