Recently, necessity and usage of the teleoperation have been increased in various fields from industrial automation to home application. Also, the internet is considered as a strong candidate for the transmission media of signals. However, it has an irregular transmission time delay and causes critical problems such as instability and poor performance. This paper presents a practical internet teleoperation system with a streaming buffer system which makes a variable time delay fixed. Validity of the proposed system is demonstrated by implementing the embedded system on a HILS (hardware in the loop system) which models a two-wheel mobile robot.
