The Teleoperator with Wave Impedance and Environment Impedance Matched

The wave impedance and the environment impedance are important for the wave-variable based teleoperator. It is difficult to get good performance when the parameters are not proper. The paper addresses how to design the wave based teleoperator when working environment undergoes changed. It is concluded that wave impedance should match environment impedance by discussing how wave impedance and environment impedance influence performance of the system. An teleoperator with wave impedance changing with environment impedance is designed to keep good trajectory tracking when working environment impedance undergoes changed. The experiment results show the trajectory performance and stability are good when wave impedance matches environment impedance.