The wave-variable teleoperator with improved trajectory tracking

The transmission of wave variables rather than power variables in time-delay teleoperation ensures system passivity - rendering the entire system stable, on the other hand, it leads to distortion between the velocities/ displacements of the master and slave, and it deteriorates significantly with the increase of time delays. This paper presents a new compensating scheme implemented at the slave side to remove the distortion. The system passivity can be maintained by tuning a properly designed low-pass filter. The main contribution of this work exists in two points: first, it is the actual velocity/trajectory of the slave that tracks the master one, and the quality of tracking is perfect; second, the proposed compensator only requires the variables at the local side(slave side), minimizing the amount of data transmitted over the communication channel, which is very important from the practical point of view. The simulation experiments show that perfect velocity (or trajectory tracking) is achieved without loosing the passivity and transparency of the system.