Basic Strategies to Enhance Teleoperation Platforms through the Internet

This paper shows in a schematic way the basic objectives to enhance teleoperation platforms, that have been achieved in the PhD Thesis (Escribano, 2003). These objectives are the result of acquired experience working with the teleoperation platform developed by our research group in teleoperation. The objectives carried out have been formulated after analyzing the performance of the initial platform and detecting some restrictions in several key parts of its design. Specifically, three basic improvement areas have been take into account. The enhance objectives have been focused in aspects such as the operating system, the human-machine interface and finally, in aspects regarding to the communication between the master and the slave. In this paper the main detected problems are introduced as well as the chosen solutions in each case. Experimental results regarding to the last enhancement objective are finally shown.