Real-time control of Internet based teleoperation with force reflection

The use of the Internet is no longer limited to the transmission of data. In the past few years many successful attempts have been made to use the Internet as a command transmission media; through which control can be sent to remote systems and feedback can be obtained. But with this media come several limitations: delay, lost packets and disconnection. All of these limitations may cause instability in the system especially if the system loop is closed. All the previous work addressing these problems assumed several conditions; for example, time delay is constant or has an upper bound, control is not in real-time. A new real-time control approach is presented that deals with these limitations without any assumptions made regarding delay. The approach is based on event-based control, which was implemented on a mobile robot over the Internet. The commands sent to the robot are velocity and the feedback is force based on the environment. It will be shown that this approach results in a stable system. In addition, a new force feedback generation method is used