Direct Internet Control Architecture for Personal Robot

This paper introduces a direct internet control architecture for internet-based personal robot, which is insensitive to the inherent internet time delay. The personal robot can be controlled by using a simulator provided at a local site. However, a large internet time delay may make some control inputs distorted. Moreover, since it is affected by the number of the internet nodes and loads, this delay is variable and unpredictable. The direct control architecture guarantees that the personal robot can reduce the path error and the time difference between a virtual robot at the local site and a real robot at the remote site. Simulation results in the real internet environment demonstrate the effectiveness and applicability of the direct internet control architecture.