Time Delayed Bilateral Teleoperation Using a Novel Wave Variable Architecture with Position Compensation

The communication delay is a critical concern within teleoperation systems due to the significant impact on system stability. The passivity-based wave variable approach can guarantee the stability of the teleoperation systems, but wave reflection may occur, which seriously distorts the operator. Moreover, serious position drift may occur when the communication delay varies over time. Considering the above issues, this paper proposes a novel wave variable approach to reduce wave reflection by removing the force terms present in the forward wave. Furthermore, an energy reservoir is designed to compensate the forward wave, which is used to deal with the aforementioned position drift problem and maintain the passivity of system under time-varying delay. Simulation is provided to demonstrate that the proposed approach can guarantee the stability of the teleoperation system while its transparency can be also obviously improved.