Environmental predictive system for teleoperation system over the computer network

Today, teleoperation over the computer network, like the Internet, is getting reality. Although today’s network technology provides us many useful features to realize teleoperation system, it’s time-varying communication delay makes force-reflecting bilateral feedback system unstable. Communication delay over the computer network also makes performing a task difficult, especially when the remote environment changes dynamically. In this paper, first, we propose an alternative teleoperation system which could realize force-reflecting bilateral feedback over the computer network with varying time delay. Then we propose environmental predictive teleoperation system for manipulation of dynamic environment. The proposed systems are implemented on experimental master-slave manipulator system and experimental results illustrate the validity of the system.