Internet based teleoperations with using wave variables
Time delay reduces opportunities of teleoperations. This problem is even more expressed if the time delay is variable, as in Internet-based teleoperations. One way to solve this problem is to use wave variables. Thereby, the energy variables, velocity and power are transformed into wave variables and communication is done through the waves. The use of wave variables ensures the passivity of the communication channel, and if the remote system is stable, then the bilateral teleoperator is stable. Because of variable delays on the Internet, all the information cannot be preserved and this may result in position error, which requires correction of position error. For communication established over the Internet is used UDP protocol. Bilateral teleoperator with wave variables is formed in the programming language MATLAB@SIMULINK and using the Real-Time Toolbox translated to work in real time. Experimental results in the network show the efficiency of implementation such solutions on teleoperations over the internet.