Teleoperation Using Wave Variables

1
Teleoperation Using Wave Variables

• A haptic bilateral teleoperation system with wave
  variable transformations present
• The parameter T represents the time delay between
  the master and slave.

2
Simulation Results

• The response of a 2-DOF system with a 2T 1 sec
  total time delay
• The input torques were 3 and -4 N?m, respectively
• Simulation used a fixed Aw where Q is allowed to
  be any orthogonal matrix
• No matter what Q value is used, the overall
  system output will not change

3
Simulation Results

• What do change are the wave variables that are
  sent across the communication line
• Wave variable vs when Q is the identity matrix,
  and a rotation matrix corresponding to a rotation
  of 45 degrees
• The wave variable will be rotated by the same
  amount that Cw and Dw are