Wave-Based Reflections Reducing Approach For Bilateral Teleoperation

The wave-based method can guarantee the passivity of the bilateral teleoperation system, but the ensuing wave reflections will deteriorate the operation performance. This paper presents a new wave-based bilateral teleoperation structures to attenuate the wave reflection, at the same time, by scaling the structure parameters to improve the force and speed tracking performance. And according to the wave scattering theory, passivity of the new structure is analyzed. Experiments show that the proposed method not only guarantees the stability of the system, but also improves the position tracking and force feedback performance.