Time delay compensation in a bilateral teleoperation system

Time delay is a relevant factor in the performance of teleoperation systems. In this work, an experimental 1-DOF testbed has been designed and built. It considers brushless motors as actuators for a master and a slave rotational robots. Architectures torque-velocity and current-velocity are proposed and evaluated in the experimental testbed applying the wave variable approach. Simulations and experimental results shows that is possible represent the proposed architectures with the basic compensators, based on wave variables, which allows the teleoperation system to compensate the time delay effect and maintain stable behavior.