Improving Efficiency of Internet Based Teleoperation using Network QoS
نویسندگان
چکیده
This paper presents a QoS based eficiency improving scheme for Intemet-based teleoperation. One of the widely used QoSparameters for showing network status . is network delay. With the help of event-based control technique, the stability of the teleoperation systems is . guaranteed under random network delay. This paper ' imiestigates how to improve the eficiency of teleoperated tasks based on the network quality by introducing a Command Negotiator and a robot controller gain adjustment scheme using the measured QoS parameters into the proposed QoS based teleoperation systems. The presented methods improve the efJiciency and system responses of the teleoperation systems when the network quality is pool: Moreover, a teleoperation experiment is presented to demonstrate the effectiveness of the proposed controller gains adjustment scheme.
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