Network based control for teleoperation of robot manipulators

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Teleoperation of robot manipulators has a wide range of application fields such as military, space exploration, undersea oil mining, uranium mining, agriculture, tele-surgery, and so on. With the vast progress in network and computing technology, teleoperation of robot manipulators has been increasingly influenced by network based control systems. In the communication network framework, the manipulator's sensor outputs and actuator inputs are communicated to and from the remote controller via a system computer, through some network transmission medium. Network transmission enables remote data transfers and data exchanges among agents, reduces the complexity in wiring connections and the costs, and provides ease in maintenance. Such network based control systems present new difficulties for control engineers and designers because of network-induced delays and packet loss. Combining network transmission constraints, manipulator's uncertain dynamics, and control specifications in network based control systems for the teleoperation of robot manipulators is the objective and thrust in this research.  In the communication network framework, the proposed research program covers intelligent teleoperation, pseudo nonlinear model predictive control, and nonlinear observer design of robot manipulators. The proposed research program would be beneficial in moving network based control forward towards practical applications; it would provide control engineers and designers with new tools for analysis and synthesis of robot manipulator control systems over communication networks; finally, it would strengthen our research activities in this new and challenging area.