Correction of position error in internet-based teleoperation

Bilateral teleoperators can become unstable if they are used in places where there is a communication delay in a closed loop. One solution to this problem is in use of wave variables that provide passive communication system and thus its stability. Positional error appears in bilateral teleoperators, due variable delays in closed loop and effects of the environment on the slave system with wave variables. In order to resolve this problem, the correction of positional errors is done. There is no general solution for the correction of positional error. This paper proposes a new solution for the correction of positional error. Simulation test of the proposed solution was performed. Bilateral teleoperator with wave variables is designed for experimental verification of the proposed solution for the correction of positional error on the slave side.