Describes an improved architecture, for the control of force-feedback teleoperation in the presence of variable communication time-delay between the master and the slave. It is based on wave variable transformations and identification of time delay properties. This scheme achieves better position and force tracking than similar architectures, by estimating the current value of time delay and compensating its variations by adjusting a single control parameter. We derive some of the analytical properties of this scheme, and we show system performance by simulating a simple Internet-based teleoperation system.
['C. Benedetti', 'Matteo Franchini', 'Paolo Fiorini']
Stable tracking in variable time-delay teleoperation