Web-Based Control System of a Mobile Manipulator over Internet

A Web-based remote control system of a mobile manipulator over Internet is studied. Due to the development of Internet technique and speed increase of transmission, the inexpensive convenient communication approach is provided for the remote control system. However, time delay on Internet is considered as a problem which affects the stability of teleoperation system. Therefore, based on the test and analysis of time delays, the change rules and classifications on time delays are developed. The control strategy and compensation scheme according to different time delays are proposed, and three control modes are embedded into the control system. In this paper, a Web site of the teleoperation system for the mobile manipulator through Internet is developed based on J2EE.