On using delay predictors in controlling force-reflecting teleoperation over the internet

Authors:
Tissaphern Mirfakhrai;Shahram Payandeh
Affiliations:
Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia (CANADA) V5A 1S6, E-mail: shahram@cs.sfu.ca;Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia (CANADA) V5A 1S6, E-mail: shahram@cs.sfu.ca
Venue:
Robotica
Year:
2005

Citing 3
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Abstract

Using the notation of the wave variables, this paper introduces an autoregressive predictor, which forecasts the future values of the delay based on its previous values. Using this new knowledge, the teleoperation control system can be tuned to achieve a better and more practical performance. The validity of this modeling is first verified by actual experiments and then the results are used in simulated teleoperations.