Picasso: real-time estimation of network delay over a tele-robotic link

摘要

The purpose of this work is to create a tele-robotic system that reacts to the user's input in real-time. This is accomplished by modeling the network delay online as a linear system using a recursive prediction error method. The model is then used to predict the time it will take for the system to receive its next command and to adjust the speed of the system accordingly. The system used is the Mitshubsi's RV-2AJ robotic arm with 5 degrees of freedom.