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The International Journal of Robotics Research
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Telemanipulation with Time Delays

Günter Niemeyer

Telerobotics Lab, Stanford University, Stanford, CA 94305gunter.niemeyer{at}stanford.edu

Jean-Jacques E. Slotine

Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139

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.

Key Words: teleoperation • force reflection • time delay • wave variables • passivity • impedence matching • virtual tool

The International Journal of Robotics Research, Vol. 23, No. 9, 873-890 (2004)
DOI: 10.1177/0278364904045563
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