30-11-2009, 04:19 PM
Abstract
This seminar describes the main issues facing the development of telerobotics systems connected to the Internet. The initial hurdle relates to the definition and implementation of an appropriate communication protocol for delivering real-time data. Two of the solutions proposed in the literature are briefly summarized. Then examines the issues relevant to control systems in the presence of time delay, with particular reference to telerobotic systems with force feedback. The delay introduced by Internet connections have specific characteristics that are briefly summarized, together with the control theory approaches available to design stable algorithms