Teleoperations over an IP network : virtual PUMA robot

We present a stable remote position/force control scheme for manipulator robot via Internet based on Smith predictor principle. To validate this control method, we developed a real time Virtual Puma robot based on RT-linux operating system. This virtual robot contains a real time task which computes the differential non linear equation of the PUMA robot including a virtual environment in order to perform a force control loop. Some interesting experiments in the case of long distance (Mexico-France: /spl sim/8000 km) show the real improvement obtained by this method with a long mean time delay (/spl sim/250ms). This addition enhances and secures the teleoperation through the internet.