Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability

Abstract

One of the problems of the anthropomorphic manipulator teleoperation is the presence of data transfer delay. If the connection between the master device and the slave device (manipulator) is organized by means of networks with a complex structure and a large number of devices (for example, the Internet), the data transmission delay is a hardly predictable value that changes over time. In such conditions, the speed and accuracy of operations are reduced, and parasitic vibrations may also appear due to the uneven flow of commands. The paper proposes the control signal recovery algorithm which aims to recreate the trajectory of the manipulator movement using the input command flow. The algorithm allows to reduce the negative impact of such factors as instability of data transmission delay, change of the commands order, and packet loss. The estimation of the accuracy of the control signal recovery in various conditions and with different operation modes of the teleoperation system was made. The simulation results confirm the possibility of using the algorithm both to achieve high accuracy and to reduce the control delay depending on the parameters of the algorithm