Bilateral teleoperation with time delay using modified wave variable based controller

Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified wave variable controller that implemented additional wave impedance in the wave variable transformations in order to focus more closely on force tracking. In this paper, we present a new controller for bilateral teleoperators based on the modified wave variable control method which provides superior position and force tracking performance compared to the traditional wave-variable-based method. Moreover, the method has high stability. Theoretical investigation and experimental results confirm the performance of this new controller.

Authors

• Kenji Kawashima
• Kotaro Tadano
• Cong Wang
• Ganesh Sankaranarayanan
• Blake Hannaford

Keywords

• Delay effects
• Force control
• Communication system control
• Teleoperators
• Impedance
• Master-slave
• Stability
• Optimal control
• Propagation delay
• Humans
• Time Delay
• Tracking Performance
• Position Tracking
• Wave Impedance
• Transformation In Order
• Effective Method
• Spring Constant
• Communication Channels
• Reference Signal
• Tracking Error
• Stable Method
• Proportional-integral-derivative
• Impedance Control
• Position Tracking Error
• Upper Figure