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Reducing Wave-Based Teleoperator Reflections for Unknown Environments

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3 Author(s)
Bate, L. ; Sch. of Electr., Comput. & Telecommun. Eng., Univ. of Wollongong, Wollongong, NSW, Australia ; Cook, C.D. ; Zheng Li

Wave variables guarantee stability for delayed teleoperation. They also introduce reflections which can prove very disorientating for an operator. This paper presents a new method for reducing the wave reflections when operating in unknown environments. The new method does not only guarantee stability but also laboratory experiments show it also reduces wave reflections allowing for improved velocity tracking and force feedback in complex and unknown operating environments.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:58 ,  Issue: 2 )

Date of Publication:

Feb. 2011

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