Web-interfaced, force-reflecting teleoperation systems
Oboe, R.
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 6, Dec 2001 Page(s):1257 - 1265
Digital Object Identifier 10.1109/41.969406
Summary:An ever-growing number of Internet-connected devices is now
accessible to a multitude of users. Being a ubiquitous communication
means, the Internet could allow any user to reach and command any device
connected to the network. This paper reports the successful application
of real-time closed-loop control over the Internet in the Java Based
Interface for Telerobotics (JBIT) system, in which Internet users can
access and command a two-degrees-of-freedom robot in real time,
receiving both visual and force feedback. When the closed-loop control
of a remote system comes into play, careful evaluation of the
performance and limits of the communication system in use is mandatory.
The analysis reported shows that the main limits of the Internet are the
unknown available throughput, the variable delay, and the loss of some
data packets, in particular, when the network is congested. Once the
limits of the communication system are known, it is shown that it is
possible to use the Internet for the remote closed-loop control of a
slave robot, provided that suitable strategies to guarantee operability
and safety of the controlled system have been implemented. The
strategies implemented in order to overcome the limits posed by the
present Internet characteristics are described, along with an improved
coordinating force control scheme, which enhances the transparency of
the teleoperator
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