Real-time Mobile Telerobot over IP Networks Based on Predictive Control

This paper presents a system that enables the remote operator to control a mobile robot with real-time control style via Internet.To compensate network delay and cancel its impact on teleoperation system,we adopt a predictive control scheme based on a modified Smith predictor we proposed previously.To guarantee system stability and transparency,a dynamic model manager is designed based on sensor information exchange between the master and slave sides,where model and force feedback errors are regulated with a fuzzy controller.In addition to force feedback,a virtual predictive display is introduced to enhance the real-time efficiency of teleoperation.To predict time delay precisely,a novel timer synchronization algorithm is proposed.To decrease delay jittering,a data buffer scheme is achieved with the two proposed algorithms.The usefulness and effectiveness of the developed method and system are validated by teleoperation experiments through Internet at a long distance.