Time delay Independent of Bilateral Tele-Robotic System using Wave Variable Approach

摘要

The controlled motion of a robotic manipulator is investigated in this work in the face of time delays in their communication channel. It causes the system to become unstable due to communication delays. To construct the controller, a passivity-based method was used. The stability of Teleoperation without and under the influence of time delays has been investigated. The stability study and simulation results in Teleoperation without time delays demonstrate instability, i.e., the slave does not track the master’s desired motion, causing instability and a decrease in system performance. A wave variable-based strategy is employed to ensure the system’s stability to compensate for time delays and increase the system’s performance. Stability analysis has been done under the influence of time delays and the same with simulation with different values of controller gain for optimal result. Number of iteration used for optimal value of controller gain. In this paper, after incorporating the wave variable approach passivity/stability deteriorate if gain values is used different from the optimal values.