Bilateral teleoperation with reducing wave-based reflections

Abstract

This paper presents a wave-based bilateral teleoperation structure to reduce the wave reflection and enhance the force and speed tracking performance through adjusting the relative parameters. A time domain passive approach is also applied to deal with the passivity of whole system even with non passive environment. The efficiency of the proposed method is confirmed by some experimental results. © 2013 Shanghai University and Springer-Verlag Berlin Heidelberg.