A new approach to wave controller design in a time-delayed nonlinear telerobotic system

Todaypsilas telerobotic systems encounter two major difficulties. The first difficulty is achieving transparency which can be interpreted as reasonable motion/force tracking performance and the second one is the presence of constant/variable time delay in communication channels connecting master and slave sites, leading to a non-passive and unstable system as well as adverse effect on tracking performance. Virtual master manipulator (V.M.M) concept has been proposed to make the telerobotic system transparent while the second difficulty can be removed by connecting master and slave sides in wave domain. Hence, a new wave variable controller design approach is introduced where the wave communication and V.M.M concept are combined to solve these problems simultaneously, while the whole system stability is guaranteed. Finally, a telerobotic system with two D.O.F master/slave manipulators is simulated and the performance of the designed wave variable controller is discussed.