Multilateral teleoperation control over time-delayed computer networks using wave variables

In this paper, a wave-variables-based control method for time-delayed multilateral teleoperation systems, which synchronizes position and force among multiple (three or more) master/slave arms, is proposed. The proposed method introduces a wave node, where multiple wave-variable-based transmission lines are connected. The behavior of such a wave node is formulated. Passivity of the system is guaranteed against arbitrary number of master/slave arms and arbitrary length of constant time-delay. In addition, position drift due to time-varying delay is compensated by introducing wave-integral-error feedback. Experimental results show that the proposed control method achieves position and force tracking of dual-master-single-slave system.