Abstract
In this study the influence of the communication channels with time varying delays on the networked robot control systems is treated. The first part of the work focuses on communication performance evaluation of such applications that are developed to support bilateral teleoperation over wireless local area networks. Detailed experimental investigations are performed to analyze the communication performances in wireless teleoperation systems. It is shown that the jitter is a good indicator of the communication performances in wireless networked control systems. In the second part of the work it is shown that in the presence of large communication delay variation (jitter) the transparency of the teleoperation is compromised. To handle this problem an extended teleoperation controller was proposed which assures better performances in the presence of jitter. Control experiments are presented to validate the theoretical results.
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Acknowledgments
The research work of the first author was supported by a grant of the Romanian National Authority for Scientific Research, CNCS - UEFISCDI, project number PN-II-RU-TE-2011-3-0005.
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Haller, P., Márton, L., Szántó, Z., Vajda, T. (2015). Bilateral Teleoperation in the Presence of Jitter: Communication Performance Evaluation and Control. In: Busoniu, L., Tamás, L. (eds) Handling Uncertainty and Networked Structure in Robot Control. Studies in Systems, Decision and Control, vol 42. Springer, Cham. https://doi.org/10.1007/978-3-319-26327-4_12
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DOI: https://doi.org/10.1007/978-3-319-26327-4_12
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