Experiments in tele-handling and tele-machining at the macro and micro scales, using the Internet for operational environment transmission

Abstract

This paper describes the construction of a tele-handling and tele-machining system at the macro and micro scales that uses the Internet for communication. The necessity of transmitting information concerning the operational environment requires an information compression method based on the real-time judgment of the machining state, the transmission of the compressed information and the transformation and augmentation of the information for presentation to the operator. A method to compensate for transmission time delays using the physical model of the object is also described. Results of tele-handling and tele-machining experiments connecting Washington DC and the University of Tokyo in Japan are discussed.