This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.

Issue Section:
Technical Papers
Keywords:
telecontrol, Internet, delays, real-time systems, haptic interfaces, digital simulation, programming
Topics:
Computer programming, Delays, Internet, Waves, Haptics
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 by ASME
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