An Implementation of TSN in a Robotic Manipulator Teleoperation System

The traditional Ethernet between master and slave of the teleoperation system can not guarantee the latency and jitter requirements for mixed-critical traffic flow. To mitigate such time-delay issues, a deterministic Ethernet technology, Time-Sensitive Networking (TSN), is applied to teleoperation system in this paper. We built an end to end implementation of TSN in a local area network (LAN) in teleoperation system to verify the effectiveness of the application. The experimental results show that the latency and jitter can stably keep at about 360 us and 39–74 us separately by applying with an accurate gate control list (GCL), even if there is a high bandwidth background traffic.