An experimental comparison of scattering-based time delay compensation schemes

The presence of time delays in the communication channel of bilateral teleoperation systems is a risk for the stability and performance of the system. Many solutions with a scattering wave variable codification approach have been proposed to solve this problem. It is hard to find in the literature fair comparisons of the proposed approaches for time delay compensation. In this work, different wave variable schemes are evaluated in a master-slave teleoperation testbed. The experimental results show the advantages and weaknesses of each scheme according to several parameters and considering the final application of the system.