A position driftless, modified wave variable scheme for time varying delayed teleoperation system

This paper presents a new approach for bilateral teleoperation based on wave variable through the time varying delayed communication channel without position drift for any n-DOF manipulators. Teleoperation is a robotics application master and a slave system act together. It is widely used all over the world and has been in existence for well over years. However, delays produced by the communication channels and preprocessing algorithms in the teleoperation system, impose a trade-off between the conflicting requirements of robust stability and performance measured by transparency criterion. Although the conventional wave variable method guarantees stability for any fixed time delay communication channel, it may suffer from the imposition of varying time delays. Moreover, passivity based control schemes do not guarantee position tracking in general and position drift due to environmental contact and offset of initial condition will always exist. The method presented in this paper can overcome the difficulties in both approaches, i.e. the problem of position drift and varying delay.