Design and implemention of wave variable based teleoperation systems

This paper introduces the development of a master-slave teleoperation system with haptic feedback and the implementation of the wave variable method. The discussions of wave reflections are also addressed. The proposed algorithms are implemented on a teleoperation control system with an embedded CompactRIO modules and master/slave devices. Experimental results illustrate that the responses of position and force tracking can be performed as desired by utilizing the wave variable theory.