Implementation of the Wave Variable Method on a PHANTOM Omni Haptic Device

Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will 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 degreeof-freedom bilateral teleoperation system. We include a derivation of a larger family of scaling matrices that will guarantee the system remains stable for a fixed time delay. A multiple degree-offreedom bilateral teleoperation system using the new wave variable method is simulated using a SIMULINK model, and then is implemented on the PHANTOM Omni haptic device.