Internet-based teleoperation using wave variables and correction of position error

Teleoperation over Internet is an area that is more and more applied and it expands day by day. Reason for this is the great advantage of the Internet as a communication medium (distribution, easy access, low price and so on). However, the Internet as a communication medium has flaws which hinder the development of this area. These are primarily variable communication delay and data loss. This can cause loss of stability of teleoperation system. This problem can be resolved by using the wave variables. However, when wave variables and variable communication delay are used under such conditions, position error appears. An idea for solving this problem is using the correction of position error. A new way of resolving problem for the correction of position error is suggested in this paper by using wave variable proposed by Laurence Bate.