Improving free space trajectory tracking in wave-variable-based teleoperation

In wave-variable-based teleoperation systems, the trajectory tracking is not guaranteed due to a bias term introduced by the wave-variable-based communication channel. This paper proposes a new method that can improve the trajectory tracking performance in free space motion. In this approach, the forward wave is augmented by the user perceived force and slave control force. Passivity of the augmented teleoperation system can be maintained by tuning the bandwidths of two low-pass filters. Passivity analysis and simulation results demonstrate the effectiveness of the scheme.