Teleoperation system via computer network for dynamic environment

A teleoperation system in a dynamic environment with varying communication time delay is proposed, which consists of three subsystems; a bilateral teleoperation subsystem, a visual information subsystem, and an environment predictive display subsystem. The bilateral teleoperation subsystem is stabilized using the virtual time delay method. The visual information subsystem transfers the visual information in the remote site to the operator's site using the computer network. The environment predictive display subsystem estimates the behaviour of the environment and gives the predicted behaviour to the operator. An experimental system is developed and several experiments illustrate the effectiveness of the proposed system.