Pose reflecting teleoperation using wave variables with wave prediction

This paper deals with the time delay problem in the context of pose based teleoperation using the wave variable approach. Motivated by the problem of performance degradation with increased delays in wave based teleoperation, the paper explores the use of a wave based Kalman predictor to enhance the system performance and robustness. The resulting performance of the teleoperation system in the presence of varying delays is illustrated by simulation studies.