Asymmetric two channel wave variable compensation method for teleoperation system with time delay

In order to guarantee system stability in time delayed teleoperation and reduce tracking errors of traditional wave variable method, the asymmetric two channel wave variable compensation method is proposed. This method compensates the wave variable in backward communication channel by energy regulator based on the forward wave variable compensation method. By tuning the parameters of wave impedance, and the cut off frequency of wave filter and energy regulator, the stability and tracking performance of teleoperation system can be guaranteed. By experiments, it is revealed that this method reduces over 70% average velocity tracking errors compared with the traditional wave variable method and reduces over 60% average force tracking errors compared with the forward wave variable compensation method in the condition of ensuring system stability. For comparison of performance in different time delays, we design two types of experiments with time delay of 3 s and 0.6 s. The results reveal that this method has good performance in the conditions of different time delays.