Using Dual-Wave Variable Transformation for Four-Channel Bilateral Teleoperation Control System Under Time Delays

This study investigates a dual-wave variable four-channel bilateral control architecture for teleoperation, aiming to address the issue of poor transparency in systems with significant time delays. The paper details the application of wave transformation techniques and a highly transparent four-channel architecture to mitigate the adverse effects of time delays, along with an in-depth transparency analysis. The dual-wave variable offers four adjustable wave impedance parameters, allowing for a more convenient trade-off between system performance and transparency. The proposed approach was validated through tests on a 3-DOF teleoperation system. Experimental results demonstrate that the dual-wave four-channel method outperforms the single-wave four-channel method in enhancing system transparency while maintaining stability under constant time delays.