Effects of Time Delay on Force-Feedback Teleoperation Systems

Abstract

This paper focuses on the effects of constant time-delays on force-reflecting teleoperation systems. The wave variable method is used to investigate its effectiveness in the presence of time delays. The master (joystick) and the slave system (remote mobile robot) dynamics and the controller are modeled in the Matlab © environment. Performance of the teleoperation system controlled by the wave variable technique is simulated under the effect of time delays and compared to that of the system without time delay and when the wave variable method is not applied. It is noted that the development of the simulation model in Matlab© aims to widen the current research to real-time application of the same control algorithm by using the Matlab © Real-Time Windows Target.