Correction of position error in Internet-based teleoperation

Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. One of the ways to ensure stability of the system in the presence of communication delays in the circular loop is the use of wave variables. At this energy variables of speed and power are transformed into wave variables and communication is done through the waves. Because of variable delays on the Internet all the information cannot be preserved and therefore position error occurs. The present paper suggests a way to correct position error that occurs in bilateral teleoperations consisting of master and slave parts which are interconnected by a communication link. With simulations that have been realized in MATLAB@SIMULINK is shown that the proposed solution is working properly and to correct position error.