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Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation

1
Department of Electrical and Computer Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USA
2
Ronler Acres Campus, Intel Corporation, Hillsboro, OR 97124, USA
3
Department of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USA
4
Department of Computer Science, Florida Agricultural & Mechanical University, Tallahassee, FL 32307, USA
*
Author to whom correspondence should be addressed.
Robotics 2020, 9(2), 24; https://doi.org/10.3390/robotics9020024
Received: 29 February 2020 / Revised: 31 March 2020 / Accepted: 10 April 2020 / Published: 11 April 2020
A bilateral teleoperation system can become unstable in the presence of a modest time delay. However, the wave variable algorithm provides stable operation for any fixed time delay using passivity arguments. Unfortunately, the wave variable method produces wave reflection that can degrade teleoperation performance when a mismatched impedance exists between the master and slave robot. In this work, we develop a novel bandstop wave filter and experimentally verify that the technique can mitigate the effects of wave reflections in bilaterally teleoperated systems. We apply the bandstop wave filter in the wave domain and filtered the wave signal along the communication channel. We placed the bandstop wave filter in the master-to-slave robot path to alleviate lower frequency components of the reflected signal. With the lower frequency components reduced, wave reflections that degrade teleoperation performance were mitigated and we obtained a better transient response from the system. Results from our experiment show that the bandstop wave filter performed better by 67% when compared to the shaping wave filter respectively. View Full-Text
Keywords: bilateral teleoperation; filtering; time delay; passivity; wave variable; wave reflections bilateral teleoperation; filtering; time delay; passivity; wave variable; wave reflections
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MDPI and ACS Style

Ogunrinde, I.O.; Adetu, C.F.; Moore, C.A., Jr.; Roberts, R.G.; McQueen, K. Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation. Robotics 2020, 9, 24.

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