This thesis shows the benefits of network delay compensation over an arbitrary Internet connection for a tele-robotic application. The tele-robotic system, named Picasso, is set up in the Systems Laboratory of the Electrical Engineering Department at the Rochester Institute of Technology. Picasso is a robotic arm that users can connect to via the Internet and draw with. This thesis demonstrates that varying the arm speed based on the predicted time-to-next packet results in smoother motion by the arm and a more accurate representation of what the user is drawing on the screen. The method chosen to predict the time-to-next packet is a Recursive Least Squares Algorithm which takes advantage of the correlation found in network delay data.
Library of Congress Subject Headings
Robots--Control systems; Remote control; Internet; Robotics
Department, Program, or Center
Electrical Engineering (KGCOE)
North, Sara, "Picasso: The use of network delay compensation to improve the response of a Tele-robotic application" (2002). Thesis. Rochester Institute of Technology. Accessed from
RIT – Main Campus