Résumé
We propose in this paper a stable remote position/force control scheme for manipulator robot via Internet based on Smith Predictor principle. In order to validate in real network situation our control method, we developed a real time Virtual Puma Robot based on RTLinux Operating System. This Virtual Robot contains a real time task which computes the differential non linear equation of the PUMA Robot including a virtual environment in order to perform a force control loop. Some interesting experimental results in the case of long distance (Mexico-France : ~7000 km) show the real improvement obtained with this method under some important mean time delay (~200ms). This addition enhances and secures the teleoperation through the Internet. The Virtual PUMA Robot server will be reachable on Internet and available for the conference to perform some real-time teleoperation experimentations via a Java HMI. Closing a loop through an IP network open some news application field such that a cooperated control for robotics systems via Internet.