Bilateral teleoperation system with BLDC motor applying the wave variable approach

Bilateral teleoperation systems are powerful tools for performing important activities in remote locations or dangerous environments. If they do not incorporate any compensation strategy, their stability and performance can be considerably affected as a consequence of time delays in the communication channel. In this work, teleoperation architectures are proposed under the wave variables approach to be applied to a bilateral one degree of freedom teleoperation system that uses a BLDC motor as an actuator, to mitigate the harmful effect of time delays. Architectures that exchange velocity, torque and current as a control signal are evaluated by simulation. The analysis of the responses obtained allows to determine a satisfactory behavior of the proposed teleoperation system under given time delays.