A delay prediction approach for teleoperation over the Internet

Based on the notion of wave variables and the idea of wave-integral transmission, a new method is suggested to match the system parameters with changes in the delay. An autoregressive model is used as a predictor to forecast the future values of the delay. The predictions are used with a lookup table to tune the gain with which the wave integrals are to be fed to the system. This gain scheduling and tuning improves the system performance and decreases the mismatch between forces and velocities at the master and slave sides.