Compensation and simulation of uncertain time delay in remote haptic interface

摘要

The haptic interface plays important role in remote robot applications since it helps people to feel the real condition to make the control accurate. However, the uncertain time delay in the remote communication introduces issues for critical real time applications, which should be compensated to obtain accurate control. In this paper, the model is proposed first and its stability is studied, second the compensation method for the uncertain time delay is presented and simulated, then the compensation is validated by web interface. At last, the consideration of much wider application is discussed.