Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

This paper proposes a novel method for incorporating wave domain prediction in a three-channel (3CH) architecture, which is the optimal architecture from a transparency point of view, to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system. A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master side. The communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH architecture. Then the I/O signal of the two-port model is transformed into wave variable. A predictor is added to the wave domain of the master side to further improve the transparency of the system, and a regulator is designed to ensure the passivity of the predictor. Experimental results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay. © by HIGH TECHNOLOGY LETTERS PRESS.