Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation

Abstract

A bilateral teleoperation system can become unstable in the presence of a modest time delay. However, the wave variable algorithm provides stable operation for any fixed time delay using passivity arguments. Unfortunately, the wave variable method produces wave reflection that can degrade teleoperation performance when a mismatched impedance exists between the master and slave robot. In this work, we develop a novel bandstop wave filter and experimentally verify that the technique can mitigate the effects of wave reflections in bilaterally teleoperated systems. We apply the bandstop wave filter in the wave domain and filtered the wave signal along the communication channel. We placed the bandstop wave filter in the master-to-slave robot path to alleviate lower frequency components of the reflected signal. With the lower frequency components reduced, wave reflections that degrade teleoperation performance were mitigated and we obtained a better transient response from the system. Results from our experiment show that the bandstop wave filter performed better by 67% when compared to the shaping wave filter respectively.

Orientation Control Design of a Telepresence Robot: An Experimental Verification in Healthcare System

“…It is impossible to change orientation when stationary, no matter how hard one steers. However, the variable time base also has some disadvantages for the controller [49][50][51][52][53].…”

“…It is, therefore, 10 ms here. To determine the desired modified cycle time dt, this time base is multiplied by the ratio between the instantaneous drive speed 𝑦 𝜔(𝑡) and the maximum drive speed 𝜔 max [45,[50][51][52][53][54][55]. This is because the controller can be set for a constant driving speed of the robot, namely 𝜔 max .…”

“…Another term, "maneuver," is also called, but better and more precise terms are "behavior" or localization, which are more frequently used in the article [48][49][50][51][52]. The control of a robot in an austere and cognitive environment is presented in [52,53]. More examples of ray robots with a multi-objective design are presented in [54,55].…”

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

“…e) Intelligent state prediction model: One significant issue for bilateral teleoperation systems is synchronization or tracking performance error while considering variable time delay. Potential solutions need further evaluation and development, such as state synchronization schemes [244], wave filter models [245], and AIenabled state predictive models [246]. environments due to shortcomings in exiting online parameter estimation models.…”