Teleoperation system control based on the method for supervisory control with variable time delay

摘要

Teleoperation is the technique of controlling a system from a remote location, which consists of a master and a slave system. The master system usually represents the model of the slave system controlled by an operator. The slave system is usually dislocated in relation to the master system and is controlled by commands sent from the master system over a communication channel. The concept of Supervisory management is generally used up to indicate that one or more human operators set the initial conditions for the control, monitoring and alternately adjusting and receiving information from the computer that is closing the control loop by itself, via external sensors. The mobile robot performs certain tasks using IR sensors, the operator monitors his work and makes some changes in the way the mobile robot works, if necessary.