Abstract
The main objective of this research is to demonstrate experimentally the feasibility of teleoperating a hydraulic system over Internet in real tilne. The teleoperation is based on the client/server architecture. Time delay caused by Internet is the main problem of the teleoperation system. After discussing the characteristic of uncertain time delay and the format of communication protocol, this paper introduces a control algorithm with prediction. Combining with the characteristic of time delay and TCP/IP protocol, this method can compensate the time delay existing in forward and feedback path. Moreover, the operator can operate transparently the master just as operating the remote object. A hydraulic master slave system is developed as a test rig and experimental results verify the feasibility of the compensator.
