Practical Implementation of a Teleoperation system using

MATLAB and SIMULINK

Farzaneh Gerami, Ahmad Forouzan Tabar, Hassan Masoumi

Abstract:
With increasing improvement in technology and information technology and converting world to
a global village, humans need is unavoidable to robotic systems. This study tries to analyze the
concept and advantages of operation from far away with implementing a simple Teleoperation.
Also because of availability, extension and low cost of internet, this implementation is done by
communication channel of internet.
Teleoperation consist of a human-machine agent which allows to operator control machines in
far distance. This has been a considerable subject between robotic researchers, recently. In this
paper, SIMULINK is used for a case study form teleoperation system.
In general implemented teleoperation system in this study consist of two master and slave robot
to send and receive information, which is connected by internet. A joystick as a feedback
indicator of power used on slave side in implemented hardware configuration. For system
communication with each other used UPD transfer method.
Keywords: Teleoperation, Robotic, Remote Control, Simulink, MATLAB, Master, Slave.

1. Introduction:
(tele) prefix is a Greek word which means distance [4]. Teleoperation is a controlling a robot
from far distance in real time. The goal of teleoperation, allows human treat with environment by
controlling a robot from far distance.
In a teleoperation systems, a human operator use a master device for controlling slave robot from
far. Slave robot should follow master robot and doing concerned worked by treating with
environment.
In General, control technology of a device or machine from far through an environment called
teleoperation. This distance can vary from 10 cm (delicate operation) to millions kilometers
(space application).
The first teleoperation was made in 1949 by Goertz [7]. After that, new needs presented for using
of these systems and added new branches to this field.
Then, after introducing teleoperation system we will consider to programs function in section 3.
Next in section 4, we will introduce different types of teleoperation systems. After that we

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present the criterions of such systems and then the manner of system implementation in this
paper, finally we will conclude in section 5.

2. Introducing teleopartion System

A teleopartion system consist of five main parts: operator, master robot, communication channel
for two robot, slave robot and environment (Fig.1). System operation is a connection between
operator and master operator and slave movement is affected by forces which is done by
operator. Required information is send from operator and robot by communication channel of
two slaves which is internet, generally. The movement of slave robot affected by sent instruction
and environmental impedance which is connected to it.

Fig1. General structure of a teleoperation system with five component.

For making this system, generally operator using an optical device and master robot to control
slave device from far as a joystick instead of a robot.
As referred selective communicating system between human operator and robot from far is
internet. Teleoperation begins using internet in middle of 1990 decade. In this structure internet
used as a communicating channel, master and slave with scattered information in its time
transferred trough passing from software layer to physical layer and then passing information
package under delay of variable with time T1(t) and T2(t) in pass and return way (fig.2) [4].

Fig2. Teleoperation through internet

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In teleoperation system select one of the transport methods TCP and UDP based on application.
Every two methods are in transport layer based on ISO standard of seven layer. TCP method is a
reliable method and guarantee the bilateral transport of information.
In this method delay is high and it is not sufficient for fast work such as teleoperation. UDP
method is sufficient for fast work. In this method, wait time is deleted to confidence for sending
information but the possibility of information miscarry to target is existed.
Table 1. Applied areas in telerobotic and teleoperation.

Under sea Research, saving, ship saving,

laboratory maintenance
Atomic Cell hot operation, inspecting,
saving, disinfecting in urgent
condition
Biology and Transfer system for poisonous
chemistry material, propeller, exploding
material and etc.
Metal In plant making and for
processing, touching hot piece of metal.
constructing
Electronic In extra clean room, in
poisonous atmosphere.
General Firefighting, save and rescue
public service and purifying in dangerous
situation
Entertainment Telegarden, Teleactor, Puma
color project, telescope control
and telemobile bearer and etc.
Education Control training, testing in
system faraway laboratories, museum
guide, independent robots and
etc.
Medical Operation - first aids, operation
lectures, medical supervisor in
home, rehabilitation.
Atmosphere Spacecraft assembly and
maintenance for exploring
satellites and plants.

3. The application of teleoperation system

The application of these system are in places which is difficult or in secure places for human.
Keeping worker at distance from insecure environment or unavailable, entering to virtual
environment, decreasing expert sending costs to far distance, decreasing medical operation,

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increasing the ability of digital art and thousand good aspects of it lead to entrance of
teleoperation to today life of human [7].

4. Teleoperation Types
Teleoperation, classified in to two main group, generally:
Unilateral Teleoperation: in unilateral teleoperation systems, operators send commands and
wait until executing of commands in command environment. Generally in such systems,
commands are easy and taking continuous feedback is not needed and operator can receive an
image from command environment (fig.3).

Fig 3. Initial blocks of unilateral teleoperation systems.

Bilateral Teleopration: Initial block of bilateral teleoperation system consist of human operator
which is in reaction with environment after passing slave []. In such systems, existed power and
situation feedback continuously [6]. In bilateral teleoperation systems, all robots send and
receive file to each other. In these system, unstable probability is very high, because of
continuous feedback in the presence of existing delay in system. So, such systems have
advanced control system [6]. In fact, touching force transfer through commander to operator
hand, teleoperation which is referred is called bilateral system in terminology.

5: Standards of teleopration system operation

Complicated and special structure of teleoperation causes to explain system operation with
various standards. Every standard in special function presents its importance:
Tracking; one of the most important purpose in a teleoperation system is that force and situation
of slave robot conformed by force and situation of master robot. Speed tracking error for slave
movement, have been calculated in free area coordinate (scale (Fe=0)). And for calculating
tracking area of force, robot generating lock in a special situation (x5=5).

Fig 4. Initial blocks of bilateral teleoperation systems.

Bandwidth: In teleoperation system always information exchange is between two sections. These
information in some parts same as a human hand in master robot can be information with 10Hz
frequency. But in many times that robot work hard, work frequency may increase to 1000 Hz.
Scale coefficient; this criterion indicate that force or movement which is done in master robot
side, with coefficient make smaller the precision measure decrease in slave robot side [1].

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Transfer impedance to feel slave environment by operator, its impedance should send precisely.
Transfer impedance criterion shows received impedance by operator. But this criterion can’t be
the desirable or undesirable behavior of system, lonely [7].
Clarification; transfer action and reaction process in a system should be equal the relationship
between force and situation in both side. This expression, is equivalent for receive / transfer of
operator desirable feeling to/of second environment [7].
Fidelity, in operation from far distance, environment impedance (Ze) is changing permanently, so
in ideal from chandes should be close to one [2].
Dynamic interval: Dynamic interval or Z-width depends on the return impedance difference to
operator in free movement and hard conflict from [7].

6: Simulation using MATLAB and Simulink

In this study we intend to design a teleoperation system that slave system imitate the mouse
movement in sender system using output of robot which in this implementation have been used
joystick as a replace and master output is controllable by sender system operator.
In this simulation, we have used MATLAB and Simulink software for modeling and Simulink
need to a device box RTWT. Simulink model of teleoperation system need only to some simple
block such as those have presented in fig.5.
Master

"‫کانال ارتباطی "اینترنت‬

Slave

Fig 5. System model of concerned teleoperation.

In generally. Modeled teleoperation system in this paper, consist of two computer which play
role of master and slave and have designed for implementing send and receive section. Selective
communicating program between human and robot from far is internet.
In modeling of both master and slave system, three blocked is used. Maser system include
Analog input blocks for receiving data from external source which we have used in this system
such as mouse, packet output is far establishing communication with slave system and a scope
for showing input signals (fig.6).

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 Fig 6. Implemented master system in this teleoperation.

Slave system include analog output blocks for establishing a signal from MATLAB and sending
it to an external source as a replace for robot such as robot arm or a joystick device, packet input
is for establishing a connection with mater system and scope for showing input signals (fig.7).

Fig 7. Implemented slave system in this teleoperation.

As illustrated before, for establishing a connection between master and slave systems are used
packet input and packet output, that should make some setting on blocks for this purpose.
According to this case that UDP transfer method is better for establishing connection in
teleoperation systems, in packet input and packet output blocks, we install UDP protocol
standard on them.
After, installing in master system, we enter port and IP address of slave system and also in port
and IP address of master system (fig.8).

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 Fig 8. Related settings for establishing connection between systems I internet channels.

We use Netstat command for finding IP address and system port. This command present a port
command and IP address of system in internet environment.
Therefore, on analog input and analog output blocks it should be defined mouse and joystick
standard as a replace for slave robot, so we have a teleoperation system which control robot
sending with input signals resulted from mouse movement in master to slave system (fig.9 and
fig.10).

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 Fig 9. Schemetic design of teleoperation system in visio software.

Fig 10. Implementing teleoperation system.

Teleoperation is a subject that attract attention of many researchers and can have many
advantage for control ability of device from far distance.
Important point in such systems (movement from far) is a delay time changing with time and
because in internet network, sending signal from source to target is different from sending signal
from target to source, therefore in bilateral for distance movement systems based on internet, is
two delay time changing with time and .
Such delays in system make difficult system control and decrease the efficiency of system
(fig.11 and fig.12), [6].

Fig 11. Resulted vectors of teleoperation output.

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 Fig 12. Resulted vectors of teleoperation output.

7: conclusion
In today world robots have found high application for doing precise works without tiredness and
high repeatability. Also, increasing human force costs and increasing the ability of robots for
work on insecure environment or unavailable increased working field of robots, gradually.
In this study tries to analyze the concept and advantages of teleoperation with simulation and
implement and internet low cost, teleoperation simulation of two robots is done through internet.
In teleoperation system of two robots as a master and slave provide indirect manipulation an
environment.
Finally, it can be said that teleoperation becomes a first and most challenging applied programs of robotic
and developed with technology progress and applied programs demand. Considering to computer sciences
achievement and creating World Wide Web in recent years and generality of this computerized network,
using from this network is essential for real works from far distance in close future.

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