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A predictor for operator input for time-delayed teleoperation
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DOI：10.1016/j.mechatronics.2010.03.002.png)
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In this paper we describe a method for bridging Internet time delays in a free motion type teleoperation scenario in an unmodeled remote environment with video feedback The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the round-trip communication delay The predictions are then used to control a remote robot Thus the operator can in effect observe the resulting motion of the remote robot with virtually no time-delay even in the presence of a delay on the physical communications channel We present results from a visually guided teleoperated line tracing experiment with 100 ms round-trip delays where we show that the proposed method makes a significant performance improvement for teleoperation with delays corresponding to intercontinental distances (c) 2010 Elsevier Ltd All rights reserved
Keyword:
Teleoperation
Time delay
Human motion models
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