Wave Correction Scheme for Task Space Control of Time-Varying Delayed Teleoperation Systems

This brief presents a novel method in wave variable approach for controlling the SE(3) task space manipulation of the teleoperation system over time-varying delayed communication. The scheme modulates typical wave commands using corrective waves to address the motion/effort mismatch largely caused by time-varying delay and environmental impedance. These corrections are computed based on the difference between the desired and fictitious poses obtained from integrating/propagating nondistorted wave variables. Resulting waves ensure the pose and, moreover, effort tracking of the teleoperation system under appropriate conditions. Passivity of the system is guaranteed by the nonnegative power dissipation constraint on the corrective wave signals, or by the help of dissipative elements in the controllers. Therefore, the scheme may be integrated to the master/slave robots controlled with passive motion/force controllers. Specific application to the teleoperation system with the proportional-derivative controllers is studied.