Tracking Performance of an Identical Master-Slave Teleoperation System under Variable Time Delays

Teleoperation system performances suffer from the delays in the communications line. 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 occurs in the position tracking performance of the limitedworkspace 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, two components are presented to be used with the customary wave variable technique to stabilize the system and enhance the position tracking performance under variable time delays. The proposed controller is then applied to an identical master-slave teleoperation configuration which qualifies as a limited-workspace teleoperation system.