A novel wave variable based bilateral teleoperation control design for transparency improvement

Time delay is an important issue for teleoperation control design. The wave variable transform, which is developed by the passivity theory, is a well-known method to deal with time delay and prove the system stability. However, the obvious defect with this method is that the transparency of teleoperation system (e.g., position tracking and force feedback) cannot be guaranteed. Some modifications of wave variable, which reduce the wave reflection and position drift, have been tried to improve the system transparency, but the simultaneous improvement of both transparency performances are still challenging. In this paper, a novel wave variable control design is developed for bilateral teleoperation system to further improve the transparency. The proposed wave variable architecture is more simplified and two parameters can be chosen separately for different transparency requirement. The stability with time delay is theoretically guaranteed, and the transparency performances of both position tracking and force feedback are obviously improved. The practical experiment are implemented and verify the great improvement of the proposed method in position tracking and force feedback performance compared to the original wave variable and previous modified wave variable design.