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



Copyright 2002 IEEE Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. ISBN: 0-7803-7437-1Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works in February 2014.

Document Type

Conference Proceeding

Department, Program, or Center

Microelectronic Engineering (KGCOE)


RIT – Main Campus