Design and Implementation of Internal-based Teleopeartion Control System

In this paper, when we design and implement an internet-based teleoperation control, some important points that should be considered (e.g., transmission characteristics, time delay prediction and transmission protocol are inspected and simulated. First, we will investigate data transmission characteristics at the Internet, and build a model for the transmission delay and packet loss through the characteristics of that effect. And then, we inspect how to predict transmission delay, and examine transmission protocols which are proper for the control-oriented Internet protocol. Finally, we apply it to a force-reflective teleoperation control system that consists of a six d.o.f haptic interface and a five d.o.f manipulator via the Internet.