Teleprogramming control paradigm for remote robotic workcells

Communication delay is a major problem while performing teleoperation remotely. Feedback delays can severely degrade performance or even destroy the sense of operator telepresence. A robotic workcell is to be controlled during remote manipulation in the presence of delays without substantial degradation of the overall system performance. A delay tolerant control strategy for telerobotic applications is outlined. A design of a teleprogramming controller (i.e. predictor with double loop feedback) for tracking moving objects during remote manipulation is demonstrated. Its satisfactory performance is evaluated using computer simulations in frequency domain by minimizing a squared error cost function of the motion parameters for various motion trajectories