A Wave Variable Approach with Multiple Channel Architecture for Teleoperated System

Luo, Jing; Liu, Chao; Wang, Ning; Yang, Chenguang

Abstract

© 2013 IEEE. Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. Wave variable is an effective algorithm to achieve a good stable capability. However, some traditional wave variable methods may decrease the performance of transparency and suffer the impacts of wave reflection. To deal with the problem of stability and transparency in teleoperation, in this paper, a novel wave variable method with four channel is presented to achieve stable tracking in position and force. In addition, the proposed method can achieve the distortion compensation and reduce the impacts of wave reflection. The simulation experimental results verified the tracking performance of the proposed method.

• Journal Article Type: Article
• Acceptance Date: Sep 29, 2019
• Online Publication Date: Oct 4, 2019
• Publication Date: Jan 1, 2019
• Deposit Date: Oct 29, 2019
• Publicly Available Date: Oct 30, 2019
• Journal: IEEE Access
• Electronic ISSN: 2169-3536
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Peer Reviewed: Peer Reviewed
• Volume: 7
• Pages: 143912-143920
• DOI: https://doi.org/10.1109/ACCESS.2019.2945674
• Keywords: General Engineering; General Materials Science; General Computer Science
• Public URL: https://uwe-repository.worktribe.com/output/4191911
• Publisher URL: https://ieeexplore.ieee.org/document/8859221