Teleoperation over Internet is an area that is more and more applied and it expands day by day. Reason for this is the great advantage of the Internet as a communication medium (distribution, easy access, low price and so on). However, the Internet as a communication medium has flaws which hinder the development of this area. These are primarily variable communication delay and data loss. This can cause loss of stability of teleoperation system. This problem can be resolved by using the wave variables. However, when wave variables and variable communication delay are used under such conditions, position error appears. An idea for solving this problem is using the correction of position error. A new way of resolving problem for the correction of position error is suggested in this paper by using wave variable proposed by Laurence Bate.

Teleoperation is the technique of controlling a system from a remote location, which consists of a master and a slave system. The master system usually represents the model of the slave system controlled by an operator. The slave system is usually dislocated in relation to the master system and is controlled by commands sent from the master system over a communication channel. The concept of Supervisory management is generally used up to indicate that one or more human operators set the initial conditions for the control, monitoring and alternately adjusting and receiving information from the computer that is closing the control loop by itself, via external sensors. The mobile robot performs certain tasks using IR sensors, the operator monitors his work and makes some changes in the way the mobile robot works, if necessary.

Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. One of the ways to ensure stability of the system in the presence of communication delays in the circular loop is the use of wave variables. At this energy variables of speed and power are transformed into wave variables and communication is done through the waves. Because of variable delays on the Internet all the information cannot be preserved and therefore position error occurs. The present paper suggests a way to correct position error that occurs in bilateral teleoperations consisting of master and slave parts which are interconnected by a communication link. With simulations that have been realized in MATLAB@SIMULINK is shown that the proposed solution is working properly and to correct position error.

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.