In the last few years, robot teleoperation systems have been improved with the advances in computer networks, virtual reality and graphical user interfaces. However, teleoperation applications for multiple and different robots in networked virtual environments are not available for all kind of users. This paper presents a collaborative multiuser system for multiple simultaneous robot teleoperat...

In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF robots and e...

Teleoperation has been a key drive for robotics research as many tasks need to be performed remotely. These tasks occur in a broad application domain, ranging from deep sea to outer space, and are typical in environments that are dangerous and/or hard to reach. Traditionally, during teleoperation, the robot motion is directly controlled by the operator. In such systems, the performance of the o...

In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subjected to time-varying time delays in their communication channel and sandwich linearity in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time delays to the case where the local and ...

Abstract: This paper presents an QoS (quality of service) based control system of teleoperation via the Internet. Quality of service on the Internet refers to a set of quality requirements on the performance of the data transmission necessary to achieve the required functionality of an application. The quality of data transmission via the Internet is measured or reflected by a set of QoS parame...

Teleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces acquired from the slave sub-system is sent to the master to increase the level of tele-presence. In this kind of a setting, data has to be transferred through a communication lin...

This paper presents a mechatronic analysis of a teleoperation system that provides haptic feedback. The analysis, based on the Bounded Environment Passivity method, describes the combined effect of the teleoperation controller and the master and slave hardware, including the effect of structural flexibilities, which have often been neglected in the domain of teleoperation. This results in rules...

The objective of this paper is to describe the modeling of a single degree-of-freedom (DOF) teleoperation system by using the Matlab software tool. Modeling a teleoperation system consists of the modeling of the dynamics and kinematics of two subsystems as well as the communication line between them to couple the systems and user interface to interact with the system. The subsystems of a teleop...

OF THESIS GRADUATE SCHOOL, UNIVERSITY OF ALABAMA AT BIRMINGHAM Degree M.S.EE. Program Electrical Engineering g Name of Candidate Jitendra Jaising Gaikwad g Committee Chair Dale W Callahan v Title Internet-Controlled Robots and Wireless Sensor Networks Communication: f----Problems and Issues f Robotic systems have been widely utilized in factory automation, space exploration, military service an...