A Teleprogramming Method for Internet-based Teleoperation

摘要

A teleprogramming method is presented in this paper for the Internet-based teleoperation. Since the Internet introduces random communication delays, limit of bandwidth and data loss, several challenges, such as instability and loss of transparency, may arise. The proposed teleprogramming method is used to settle the problems caused by Internet. Based on the remote robot local autonomy, by transmitting high level commands, the instability caused by the communication delay of Internet is avoided. The little information of robot joint angles instead of the real-time video stream of the robot are fed back to resolve the limit of bandwidth, and a simple method is presented to deal with the data loss. The virtual force calculated from the error between the desired angle and the current angle of the robot, is fed back to the operator to improve the transparency of teleoperation. An Internet-based teleoperation system between Wuhan (China) and Harbin (China) about 2600 km far away is conduct, and the results of the experiment show the effectiveness of the proposed method.