Unilateral hydraulic telemanipulation system for operation in machining work area

Abstract

The paper is focused on the minimization of the time transport delay effect which is present in the communication channel of a telemanipulation system. For the minimization of the time transport delay, a prediction block was proposed. The prediction block is characterized by a unitary gain and positive-linear phase shift in a useful frequency spectrum of the system operation. These features allow the block to predict the signal with a constant time and minimizes the gain to a unity level. The use of prediction blocks in the communication channel strongly improved the position tracking abilities of the unilateral system which feature was confirmed in experiments.