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Teleoperation is the remote control of machines where haptic feedback can enhance performance by improved telepresence. Due to its closed-loop nature, any transmission delay can potentially cause instability. There has been extensive research into this problem using a variety of compensation algorithms, frequently using remote environment of various stiffness and perhaps viscosity. This research presents a study on the teleoperation of an inverted pendulum using wave variables. A more quantitative analysis method based on reflection coefficients is also introduced that allow improved tuning of the control parameters.