Improving efficiency of Internet based teleoperation using network QoS

This paper presents a QoS based efficiency improving scheme for Internet-based teleoperation. One of the widely used QoS parameters for showing network status is network delay. With the help of event-based control technique, the stability of the teleoperation systems is guaranteed under random network delay. This paper investigates how to improve the efficiency of teleoperated tasks based on the network quality by introducing a Command Negotiator and a robot controller gain adjustment scheme using the measured QoS parameters into the proposed QoS based teleoperation systems. The presented methods improve the efficiency and system responses of the teleoperation systems when the network quality is poor. Moreover, a teleoperation experiment is presented to demonstrate the effectiveness of the proposed controller gains adjustment scheme.