Achieving Stable Tracking in Wave-Variable-Based Teleoperation

Wave-variable-based control is an attractive approach for teleoperation systems that are subject to substantial time delays. However, this approach can potentially introduce wave reflections which can significantly disorient the user. In this paper, we aim to improve the operator´s perception through an augmented wave-variable controller based on impedance matching that achieves stable signal tracking in teleoperation. Augmented parts are both utilized in the forward and backward wave paths by using the reflecting force from the slave side and velocity from the master. As a result, the wave reflections are eliminated and stable position and force tracking are achieved. These improvements are tested and validated in several experiments on a 1-DOF test bed.