Tracking Performance Of An Identical Master-Slave Teleoperation System Under Variable Time Delays

Abstract

Teleoperation system performance suffers from the delays in communication lines. These delays are usually variable time delays. The customary wave variable technique used for constant time delays cannot provide satisfactory results to stabilize the system under variable delays. Another problem is observed in the position tracking performance of the limited-workspace teleoperation systems. Although wave variable technique is proven to track position demands successfully under constant time delays given that there is no communication failure, position tracking performance also degrades under variable delays. In this paper, a new controller is proposed to stabilize the system and enhance position tracking performance under variable time delays. This proposed controller is then applied to an identical master-slave teleoperation configuration which qualifies as a limited-workspace teleoperation system.