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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: shahram@cs.sfu.ca
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: shahram@cs.sfu.ca
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Abstract

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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.

Keywords

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