Abstract
Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system would generally degrade the system's performance and cause instability. An important approach that guarantees stability for any fixed time delay is the wave variable method. In this paper we present some recent material dealing with teleoperation systems using wave variables. In particular, we describe a wave variable scheme based on a family of scaling matrices for multiple degree-of-freedom bilateral teleoperation system. We include a derivation of a larger family of scaling matrices that guaranteed the system remains stable for a fixed time delay. A multiple degree-of-freedom bilateral teleoperation system using the new wave variable method is simulated using a SIMULINK model. In addition, the new derivation was implemented in hardware using an Immersion joystick and a C++ program
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
