Time delayed teleoperation with stable tracking and high feedback fidelity using modified wave variable

In wave-variable-based teleoperation system, stable tracking remains difficult to achieve due to the bias term and wave reflection. Another main objective of teleoperation is to achieve high feedback fidelity. For improving the position tracking performance and enhancing the force feedback fidelity in time delayed teleoperation, a modified wave variable method is proposed in this paper. This method compensates backward wave variable based on the forward wave variable compensation method. In order to guarantee system passivity, this method use energy reservoir to regulate the compensation terms in backward communication channel. The simulation results reveal that this method reduces the force tracking deviation to the one sixth of the ones in forward wave variable compensation method. Eventually, the goal of stable position tracking and high force feedback fidelity are achieved under the conditions of insuring system passivity.