A novel control framework for internet based tele-robotics

Aiming at the tele-operation instability caused by time delay of internet information transfer for internet based tele-robotics,tbis paper proposes a novel control framework for internet based tele-robotics,which can guarantee the non-distortion-transfer of control information and reduce the difference of action time between the local simulated virtual robot and the remote real robot.This framework is insensitive to the inherent internet time delay,and diffelrs from other tele-roboties systems that try to use some mathematic models to deseribe the internet delay or take some assumptions.In order to verify the framework.a 4-DOF fisehertechnik industry robot tele-operation system has been developed using the Hew proposed framework.Experimental results demonstrate the applicable performance of the new framework.The framework is open structured and Call be applied to other general purposed tele-operation systems.