Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. wavevariable is an effective algorithm to achieve a good stable capa...
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Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. wavevariable is an effective algorithm to achieve a good stable capability. However, some traditional wavevariablemethods 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 wavevariablemethod with fourchannel 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 verifled the tracking performance of the proposed method.
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