The Control Scheme Survey Of Teleoperation Via Internet

Tele-robot is a long-distance operating system which can do very complex task inharmful environment under the people’s supervision. It has been applied to many areas,such as deep ocean detecting, the space exploration and the nuclear industry and so on. Andthe teleoperation system based on Internet has been also extensive research anddevelopment because of its low cost and universality.While teleoperation systems guaranted that the operator safety and enhancementworking efficiency, they suffer from serious problems resulting from the communicationlink which will bring on time-delay inevitably, the time-delay will cause the system to notwork normally and be unstably. What’s more, the time-delay which Internet causes israndom and not predective. To solve the problem, the main work of this paper are asfollows:Firstly, in the teleoperation system based on Internet, the time-delay which Internetcauses is always the key issue that influences the system’s maneuverability and stability.The Internet structure and protocol was analyzed in this paper, and researched itstime-delay characteristics, introduced the process of packets lost.Secondly, the remote operating system’s kinetic model and two-port network modelwere established, then the wave transformation stucture and its characteristics were studyed.In this article, under the constant or varying time delay in the communication channel, thewave-based teleoperation system’s passive reason was analyzed. And because the delayincreased the energy of the communication channel and caused the system unstable, twocrrectors were adopted to restore system passivity. At last, the effectiveness of the controlalgorithm was showed through simulation.Thirdly, the four channel contol structure was investigated, then in order to improvetransparency of the wave-based telerobot system and warrant the passivity of the fourchannel control structure system, a new method wave-based four channel control structurewas adopted in the paper, and whose stability and transparency was analyzed underdifferent time-delay. A filter was used to reduce the impact of wave reflection whichexisted in the communication channel. At last, the effectiveness of this control algorithmwas also showed through simulation, and the simulation validate that good performancewas achieved.Finally, the importance of transparency quantizing analysis was proposed, and analyzed the Yokokohji’s method of transparency quantizing analysis, base on which thewave-based teleoperation system’s transparency was quantized, so did the wave-based fourchannel system. Then their results were compared and analyzed.