A Study on an Internet-based Pneumatic Master-slave Bilateral Tele-operation System

For an Internet-based pneumatic master-slave system, this paper presents an effective experimental method to realize the bilateral tele-operation with varying time-delay. Firstly, based on the measured time-delay between Beijing and Tokyo, the variable difference of time-delay between TCP and UDP protocols and their features on data transmission are described. Secondly, after the discussion on the unstable problem of the pneumatic master-slave system caused by the time-delay, a compensator to ensure the stability of system with varying time-delay was proposed. Thirdly, the corresponding data processors for TCP and UDP were proposed to solve the sampling disorder problem caused by varying time-delay. Finally, the validity of the proposed compensator and processors were proven by experiments using the measured time-delay between Beijing and Tokyo.