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Teleoperation Using Wave Variables

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... Using Wave Variables. A haptic bilateral teleoperation system with wave variable transformations ... The input torques were 3 and -4 N m, respectively ... – PowerPoint PPT presentation

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Title: Teleoperation Using Wave Variables


1
Teleoperation Using Wave Variables
  • A haptic bilateral teleoperation system with wave
    variable transformations present
  • The parameter T represents the time delay between
    the master and slave.

2
Simulation Results
  • The response of a 2-DOF system with a 2T 1 sec
    total time delay
  • The input torques were 3 and -4 N?m, respectively
  • Simulation used a fixed Aw where Q is allowed to
    be any orthogonal matrix
  • No matter what Q value is used, the overall
    system output will not change

3
Simulation Results
  • What do change are the wave variables that are
    sent across the communication line
  • Wave variable vs when Q is the identity matrix,
    and a rotation matrix corresponding to a rotation
    of 45 degrees
  • The wave variable will be rotated by the same
    amount that Cw and Dw are
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