Telemanipulation with Time Delays

TLDR

Passive transmission procedures guarantee stability, yet wave reflections and spurious dynamics can disrupt operation, and these developments underpin extensions to wave-based prediction for variable delays such as those in Internet telemanipulation. The paper surveys the wave variable concept and wave-based teleoperation, aiming to design a virtual tool that accommodates delay limitations. The authors analyze force‑reflecting systems under constant delays, employ wave variables for analysis and implementation, and construct a system with consistent, predictable behavior.

Abstract

In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making appropriate design choices, a system with consistent and predictable behavior is constructed. This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay. These developments also form the basis for extensions to wave-based prediction and application to variable delays, such as those inherent to Internet-based telemanipulation.