A study on multiple degree-of-freedom force reflecting teleoperation

This article reviews the wave variable method as it applies to multi-degree-of-freedom teleoperation systems. To demonstrate the effect of wave variables on the stability of a time-delayed multidegree-of-freedom system, initial simulation results on a three-axis robot are presented. Also the multidegree-of-freedom teleoperation system model developed in the Matlab/spl copy/ environment is described. This model, used in numerical simulations, is also utilized in real-time implementation of the controller.