Remote control of robotic manipulator under delays in communication channel

This work is intended as an attempt to design an effective remote control scheme for robotic manipulators under the presence of delays in the communication channel. Two control strategies in the trajectory tracking problem for robotic manipulator are investigated. First, the classical resolved rate motion control technique is adopted and enhanced with experimental delay prediction. As an alternative approach to circumvent the inherent uncertainty of the controlled system is to adopt the iterative learning scheme with error estimation based on the observations from previous trials of robot movements. Both methods are successfully implemented on within the cascade control scheme within the framework of client-server TCP/IP communication architecture. Then, their performance is compared experimentally on the real platform of KUKA Agilus KR6 industrial manipulator with KR C4 compact controller.