Modified Wave Variable Technique for Time Delayed Bilateral Tele operation |
Author(s): |
| Vasumalaikannan A , Anna University,Chennai |
Keywords: |
| Wave variable, Teleoperation, Passivity |
Abstract |
|
In force reflecting Teleoperation the time delay in the loop make the system unstable. The wave variable method is one of the ways to make the system as stable for any type of varying time delay using passivity technique. In this paper a modified wave variable technique has been proposed which retain the stability guaranteed by the existing wave variable and improves the tracking performance of the system. Two new variables are added in the modified wave variable to improve the force and position tracking. The effectiveness of the proposed method is confirmed by simulation results. |
Other Details |
|
Paper ID: IJSRDV10I90042 Published in: Volume : 10, Issue : 9 Publication Date: 01/12/2022 Page(s): 65-69 |
Article Preview |
|
|
|
|
