Wave varible with prediction in multi-DOF teleoperation system with varying-time-delay

A group of general wave transformation equations for multi-degree of freedom (DOF) teleoperation system are created, and a novel method for incorporating wave variable and prediction is proposed for the system to insure the stability and improve the transparency. To overcome the steady-state position error problem caused by varying-time-delay and inaccurate prediction model, a slave side correction method is proposed instead of wave impedance b with wave impedance matrices, the wave transformation equations for multi-DOF system are considered, and the choice principle of the impedance matrices is derived from the energy point of view, then based on the principle and the intrinsic relationship among the matrices the choice method of the matrices is extended. The stability of the wave prediction method and the aforementioned steady-state position error problem are analysed. The positions of the master and slave are in the same "time frame", so a slave side correction method is used to reduce the steady-state error. A three-DOF teleoperation system is taken as an example to verify the validity of the method. The experimental results show that the method can guarantee the stability and improve the transparency and decrease the steady-state error for the system.