This paper presents a detailed experimental comparison of several published algorithms for motion and force control of bilateral internet teleoperators. Different control techniques based on wave variables, smith predictors, and recent algorithms on synchronization are compared under variable time delays, packet losses and environmental disturbances. The experiments are performed using a pair of two-link direct drive arms equipped with force/torque sensors and connected in a master-slave configuration. Comparing different control schemes on the same physical hardware allows a detailed comparison of their respective performance.
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