Wave prediction theory and application in teleoperation

Aiming at the problem that the present wave variable method can not satisfy the requirement of medical bone-setting in time delay condition, the system stability and the master-slave track precision were obtained by introducing prediction techniques in wave domain. In order to use this method in different initial conditions, and keep it robust in slave model mismatch and round off error, the modified Smith prediction method was used in the scheme. It employed a state observer combined with a time forward observer to estimate the output of slave part, then an energy regulation algorithm was used in the conjunction of a prediction algorithm to ensure the system passivity. The proposed wave prediction method can ensure the system stability under varying time delay environments in most cases, but varying time delay and round off error can lead to the position shift error-between master and slave part. Thus an error correction method was designed to regulate the wave domain energy to correct the shift in master-slave position.