Wave-transformation-based control law for teleoperation with large time-varying delays

This paper presents a solution to maintain stability in a force-reflecting bilateral teleoperator in the presence of substantial time-varying delays based on the wave transformation. By adding a filter inside the communication channel, a criterion is developed to show why the proposed bilateral control law is stable for large time-varying delays. To show the validity of the proposed scheme, we conduct several experiments with a six-degree of freedom master/slave system in the large time-varying delay case. Results demonstrate that this method could guarantee both passivity and tracking performance.