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

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Title: Picasso: Real-time estimation of network delay over a tele-robotic link
Author: North, S.; Sahin, Ferat
Abstract: The purpose of the work presented 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 Mitsubishi's RV-2AJ robotic arm with 5 degrees of freedom.
Description: Copyright 2002 IEEE Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Record URI: http://hdl.handle.net/1850/8979
Date: 2002-10

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