Lingyan Hu, Yubin Yang, and Shaoping Xu
Teleoperator, force feedback, passivity, wave variable
The transmission of wave variables rather than power variables in a teleoperation system with time delays ensures system passivity – rendering the entire system stable, however, the delayed force feedback leads to unanticipated motion of the master, which makes the system difficult to control, in addition to degradation of system transparency and performance. In this paper, we propose a new force feedback algorithm, which is easy to implement, to mitigate the unanticipated and disturbing motion of the master. It is proved theoretically that the system using the proposed force feedback algorithm is passive. Simulation and experiments show that the system is stable and easy for the human operator to control.
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