The purpose of the work presented is to create a tele-robotic system that reacts to the user's input in real-time. This is accomplished by modeling the network delay online as a linear system using a recursive prediction error method. The model is then used to predict the time it will take for the system to receive its next command and to adjust the speed of the system accordingly. The system used is the Mitsubishi's RV-2AJ robotic arm with 5 degrees of freedom.
Date of creation, presentation, or exhibit
Department, Program, or Center
Microelectronic Engineering (KGCOE)
North, S. and Sahin, Ferat, "Picasso: Real-time estimation of network delay over a tele-robotic link" (2002). Accessed from
RIT – Main Campus