3CH time-delayed bilateral teleoperation using wave variable with prediction

To overcome the poor transparency of using wave variable algorithm in time-delay teleoperation system, a novel method was proposed for incorporating wave variable algorithm with prediction in a three-channel (3CH) architecture of teleoperation system. This method is capable to guarantee the stability of time-delay teleoperation meanwhile increase the transparency. A 3CH teleoperation control architecture was established for the system in the absence of force sensor in the master side, and a parameter selection method for 3CH architecture under the condition of ideal transparency was presented. To extend wave variable algorithm to a 3CH teleoperation architecture, the communication channel was divided into a two-port model by reasonable combination of force and speed information. Then the I/O signal of the two-port model was transformed into wave variable. A predictor was added in wave domain of the master side to further enhance the transparency of the system, and an energy regulator was designed to ensure the predictor being passive. The transparency and stability of the system were analyzed. Experiment results show that the proposed method can guarantee the transparency and stability of time-delay teleoperation system.