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Effects of Time Delay in P-P Telemanipulation Architectures

Kareem, L. (2025) Effects of Time Delay in P-P Telemanipulation Architectures.

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Abstract:Position-position (P-P) telemanipulation architectures are widely used for remote robotic control due to their stability advantages over position-force architectures. However, time delays in communication channels still degrade performance and can cause instability. This thesis investigates how time delays affect system behaviour and whether performance can be improved through compensation. Three research questions were addressed: how the P-P architecture behaves under ideal conditions; how time delays impact system dynamics; and whether a feedforward compensation term mitigates adverse effects. Under ideal conditions, positions and forces behave predictably, though the remote robot does not perfectly track the operator due to system dynamics. With time delays, the system first behaves energy dissipative, then transitions to energy generative behaviour beyond a critical threshold, depending on the time delay and input frequency. To counteract this, a compensation term based on the parasitic force caused by time delay was introduced. While this improves force alignment, it also removes dissipative behaviour that had previously supported passivity. Particularly in dynamic environments, such as a virtual wall, delayed feedback can introduce energy generative behaviour.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Systems and Control MSc (60359)
Link to this item:https://purl.utwente.nl/essays/106579
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