Teleoperation with time delay: A survey and its use in space robotics

The existence of time delay in the communication link is one of the most important problems regarding the stability of teleoperation systems. Time delay is specially relevant in ground teleoperation of robots orbiting Earth, with values of round trip delay ranging from 5 to 10 seconds. Many proposals on how to conduct time delayed teleoperation under various circumstances and for different applications have appeared through the years in the literature. This paper presents a survey of most of these proposals, with the aim of identifying those methods and procedures that can be employed to improve the performance of space robot teleoperation.

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