Modification of the Wave Variable Technique for Teleoperation Systems Experiencing Communication Loss

Researchers have studied teleoperation systems essentially for implementation in critical tasks. Although teleoperation systems require stability apriori, time delays over the communications lines become a major source of instability. During the last two decades several researchers have focused on the time delay problem. The wave variable technique is one of the teleoperation controllers developed to ensure stability under time delays. In this paper, a modified algorithm of the wave variable technique is introduced. The purpose of the modification is to ensure that the slave manipulator tracks the position demand of the master even if there is a communication loss or the wave variable technique fails for a limited time period.