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internet time delay

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On using delay predictors in controlling force-reflecting teleoperation over the internet
Tissaphern Mirfakhrai, Shahram Payandeh
Journal:

Robotica / Volume 23 / Issue 6 / November 2005

Published online by Cambridge University Press:

10 November 2005, pp. 809-813
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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.