Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics

Mattias Bratt, Christian Smith and Henrik I Christensen.

Abstract

A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed. It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused by varying delays. The operator interface uses a stereo virtual reality display of the robot cell, and a haptic device for force feed-back including virtual obstacle avoidance forces.

Keywords: Internet, prediction, remote bilateral teleoperation, time delay, haptics.

Last update: 2006-06-02