Teleoperation with Additional Delay Mechanism : Introduction of Virtual Time Delay

Abstract

The existing teleoperation methods, which verify the command only as a single command not as a series of commands, have poor operability under communication time delay. This is because the inappropriate operation can only be stopped just before the execution and the following restarting operation becomes very difficult. This report suggests a new on-line teleoperation method equipped with the additional delay mechanism, which adds some additional time delay to communication time delay to maintain a command buffer. Every verfied command is temporarily stored in this buffer before transmission and, when a wrong command is generated later, part of the commands or all the commands in the buffer are automatically reedited to make a new series of commands which smoothly avoid the wrong operation. The operation continues smoothly from the last command point that was left after the reediting.