Predictive path parameterization for the teleoperation systems via internet

In this paper, we present a predictive strategy for teleoperating via communication channel with unknown and variable time delay, where the remote robot is compensated to be a linear system. According to the state received from remote plant and the local predictor, a discrete-time device called path governor(PG) generates on fine a suitable time-parameterization of the path to be tracked, by solving at fixed interval a look-ahead optimization problem. In order to demonstrate its effectiveness, a master/slave teleoperation problem over Internet is considered. Experimental results show that the teleoperation system can be stable and has good tracking performance under three circumstances