Implementation of internet based telemicromanipulation with delay compensation

Abstract

In this paper, our Internet based bilateral telemicromanipulation system with time-varying delay compensation was implemented. Wave variable transformation is applied into the system for maintaining the system's stability against the presence of time delay during the teleoperation as well as the effect of change in wave impedance parameter is analyzed through the experimental results. PHANTOM haptic device is used to let an operator interact with remote system and improve telepresense. Purposed system's performance is evaluated through the experimental results and some methods to improve the system's performance are proposed based on the experimental results.