Teleoperation with Time Varying Delay Using Scattering Matrix and Wave Filter

In this paper, the stability condition based on small gain theorem for time varying delay teleoperation, and the online calculation of time varying gain is proposed for general teleoperation using scattering matrix. In addition, in order to avoid the bad affects of the gain inserted into communication block, low-pass filters and compensators are used to stabilize the position-force teleoperation with scattering matrix with limited time varying delay. The system performance of the proposed position-force teleoperation is also analyzed.