Improving Trajectory Tracking in Wave-Variable-Based Teleoperation

For wave-variable-based teleoperation systems, the performance of trajectory tracking is not ensured due to a bias term introduced by the wave communication channel. This paper proposes a new method that can improve the trajectory tracking performance. The key idea is that the wave in the forward path is augmented by the user-perceived force and slave control force. The passivity of the augmented teleoperation system can be maintained by tuning the bandwidth of the low-pass filter, as demonstrated via an example. Therefore, the system stability can be always guaranteed. Both the simulation and experimental results verify the effectiveness of the scheme.