Video supported bilateral teleoperation system: Design and implementation

摘要

In bilateral teleoperation systems, beside the haptic feedback, the human operator also needs video information about the motion of the distantly controlled robot to complete the teleoperation task. In this study a software design approach is presented for such bilateral teleoperation systems that include one or more video channels. A control algorithm is also presented that regulates the traffic in the video channels in order to assure good communication properties for the communication channels over which the control signals are interchanged by the master and slave side of the teleoperation system. Solutions are also given for the implementation of such teleoperation systems. Experimental measurements are presented to validate the proposed communication and software design approach.