Improving performance of a remote robotic teleoperation over the internet

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Date

2005

Author

Arslan, Mehmet Selçuk

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In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoperation system. Considering the disturbing effects of the Internet onto the transmission, an event-based control approach is used in order to improve the stability of the teleoperation system. Besides, a visual feedback system is developed and a force-feedback mouse is designed in order to improve synchronization between the human operator and robot during the command generation according to the feedback obtained from the control system. A client-server software application is developed to interface the human operator with remote environment. It is observed that, using the event-based control approach in the operation makes the teleoperation stable and improves the synchronization ability. Implementation of visual feedback and force-feedback mouse to the teleoperation system improves the human operator̕s ability to perform remote operation.

Subject Keywords

Ingenious Mechanisms.

URI

http://etd.lib.metu.edu.tr/upload/12606475/index.pdf
https://hdl.handle.net/11511/15357

Collections

Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

M. S. Arslan, “Improving performance of a remote robotic teleoperation over the internet,” M.S. - Master of Science, Middle East Technical University, 2005.