Study of Latency for a Teleoperation System with Video Feedback using Wi-Fi and 4G-LTE Networks

摘要

In this study was developed a teleoperable robotic arm with the aim of testing and analysing the teleoperation latency for three different communication channels. A closed-loop control (direct teleoperation) was adopted, with bidirectional communication, the operator receiving the necessary information for the teleoperation process in real-time from a video camera mounted on the robotic arm. In order to connect the control device with the teleoperable robotic arm were used three different communication channels and the latency of the teleoperation process was measured and analyzed for each of these three communication channels. This paper contains information about the mechanical, hardware and software parts of the developed robotic system. It also presents the communication channels that were tested and the results obtained. The aim is to identify the advantages and disadvantages of each of these three communication channels, to detect the limitations and to ascertain to what extent the teleoperation of such a system can be done efficiently.