Cloud-based remote motion control over FTTH networks for home robotics

The Internet technologies make it possible to control home robots from remote locations. This paper proposes a cloud-based remote motion control system over a 20-km fiber-to-the-home (FTTH) network, i.e., a passive optical network (PON). The physical location of the cloud server, in which the controller is installed, greatly affects the stability of the control system. Remote position control of a rotary motor is performed as a fundamental experiment for robot control. The experimental results show that the controller accepts a 20-ms round-trip time delay of cloud networks in the proposed system.