Experimental Analysis of Communication Quality of Teleoperation with Force Feedback via IP Network

The time-varying delay is crucial factor in the Internet communication which is related to web congestion, bandwidth and distance. This paper analyses communication time delay and quality in a bilateral manipulator robot (PUMA560) with multi-dimensional force feedback via a local IP network. Force/moment sensors and cameras are placed on remote sites. Position commands generated by the human operator, and force telepresence arc set on local site. It attaches importance to analyze the relations in the size of packets, throughput, and processing time. Based on experimental analysis, it is concluded that TCP is suitable for sense signals transmission over the web and UDP is suitable to be applied to the multimedia. Based on acquiring and analyzing the time-varying data, research on a dynamic, time-varying algorithm to take account of the stochastic rate of change of the time delay in network will be the future investigation.