Implementation of wave-based teleoperation system by improved trajectory tracking method

In teleoperation system employment of wave variables are proposed to encounter the time delay issues. Although, this method guarantees the passivity of the communication channel in presence of constant time delays, the tracking performance is defected due to distortion terms induced through these variables. In this paper an improved wave based method is proposed to omit the distortion terms and provide superior tracking performance compared to that of conventional wave variable method. In order to implement this approach an experimental setup is prepared which consists of a virtual slave robot, a Phantom Omni haptic device as master robot and TCP/IP communication channel. Implementation details and experimental results are presented to demonstrate the effectiveness of the proposed method. The experimental results verify the passivity of the overall system for different constant time delays, and the performance of the teleoperating system is illustrated by perfect velocity tracking in all degrees of freedom.