The architecture of an Internet-based teleoperation system with force feedback control has been presented. The notion of supermedia in the teleoperation was introduced firstly. And then the artificial potential field method was used to produce virtual force which was displayed by force feedback device. A kind of general task distribution algorithm had been proposed, in which tasks were distributed by the operator. Cooperating grabbing work experiment of the omnidirectional mobile robot and MOTOMAN manipulator in Shenyang Institute of Automation's had demonstrated that this method was available and effective
['Xiuhui Fu', 'Ning Xi', 'Dalong Tan', 'Yuechao Wang', 'Jianning Hua', 'Wei Zheng', 'Qiang Huang']
Interactive Telecooperation via Internet